Its been a while, but here it goes.
In the original 1984 series, GEN 1, the TF's left Cybertron in battle and crashed on a prehistoric Earth, where there remained dormant until they were activated in 1984. It ran for 3 seasons with the Rebirth story arc being a 3 episode 4th season. Prime was a Semi, Megatron was a PPK
Beast Wars aired in mid 90's and followed a later TF generation who had 'evolved' to be smaller more energon efficient. they to engaged in a long distance space battle. They went through a temporal worm hole sending them into the past after the GEN1 crash, but well before 1984 when they were activated. The ARC of BW is the main base from seasons 1&2 of GEN 1. Prime was an Ape, Megtron was a T-Rex, in the final season of BW, BW-Prime was injured and recieved a spark 'jumpstart/donation' from GEN1 Prime, and became machine TF (vaguely monkey like). They eventually won, all Bad guys were converted, captured or destroyed, Save for Waspinator who was left behind to create the GEN 1 Insecticons. Megatron was strapped to the ship(a modified 'lifeboat' from the Arc.)
Beast Machines followed, and operated on Megatron getting free in the Temporal worm hole and beating the Maximals back to Cybertron. He was tapped into the heart of Cybertron and had the sparks of most every TF in storage. as needed he'd build soldiers and implant them with the stolen sparks, most Maximals from BW were still in BM. Prime was a plain Monkey again and Megatron was a Red Dragon. I never saw the end of it.
Later...
Robots in Disguise came out, no noticable link to BW/BM, most likely set between GEN 1 and the time of BW departure from Cybertron. Prime was a Fire Truck with regular and SuperRobot forms also merged with UltraMagnus for a 3rd robot form, Megatron was a 5-changer? w/ 2 headed dragon, Bat, Claw, Race car and plane.
Armada was next, Mini Cons introduced, Prime was a semi, with the trailer being a Mini-con battle station, and his legs in an upgraded Robot form, Jet Fire would also merge with OP in place of the trailer as well. Megatron was a Tank
Energon followed, Mini cons still around, energon star chip intro., power linking, every Autobot was in a two man team that merged and upgraded, partners were standard in the series, toy line had 3 sizes, and could be mixed and matched w/in their size group. Prime a semi had 4 mini vehicles that augmented his limbs, as well as the ability to merge with WingSaber, Megatron a airplane(sorta)
Cybertron is the most recent, Minicons still around energon chips replaced by Cyberplanet Keys. Prime a fire engine again,two robot modes(Leobreaker? could replace either arm as a giant Claw), Megatron a Race Car
So far as i know Armada, Energon, and Cybertron are all on the same story arc, sort of. RID is stand alone and BW led into BM. I didn't watch BW/BM that often as it bounced around my local schedule.
That is all I know of the Transformers on TV.