Believe it or not, the first time a dinosaur was ever spotted was back during 1997. When the infamous Ingen was harvesting dinosaurs on the island of Isla Sorna to build "Jurassic Park: San Diego". However, this plan failed. But not entirely. They still had two dinosaurs. A large buck tyrannosaur, and a baby tyrannosaur. These dinosaurs were given faulty dosages resulting in panic among the crew due to the fact that the rexes could slip into a coma. Due to this panic, the added to much. Which woke up the rex, this rex then ravaged the boat and killed the crew of the S.S. Venture. One person heroically sacrificed themselves to put the rex back in the cargo bay of the S.S. Venture. However, now that the boat was unmanned, it would begin to speed up. With no one controlling it, the boat slammed into the dock of San Diego. During the inspection of the ship, one of Ingen's employees opened the broken cargo hold doors. Letting the rex loose upon San Diego. During the incident multiple people were killed, but with the help of Dr. Ian Malcom and Sarah Harding, it was safely contained within the cargo hold and transported back to Isla Sorna.
Greed. Greed is the short answer to this question. During 2018, the DPG (Dinosaur Protection Group) made an operation to save the dinosaurs on Isla Nublar. Unfortunately, the people who they had asked to team up with had malicious intentions. They wanted the dinosaurs so they could sell them off on the black market to people so they could be used for war. One of the dinosaurs, the indoraptor, which was created by our now regretful teammate of Dr. Henry Wu, who also worked for Ingen and Masrani to create the dinosaurs for the parks, broke out of its containment due to negligence of giving their teammates proper knowledge about the animals. This dinosaur killed a bunch of people, along with a stygimoloch, which was one of the first dinosaurs to go into the wilds of California. Afterwards, a can would be damaged, which contained a toxic gas which would kill the dinosaurs. During the events of this, someone released the dinosaurs out into the wild where they could be free and survive another day. Because of those actions, they are in our world now.