Into the Storm is the first book of the Destroyermen series of alternate history novels by Taylor Anderson.
In 1942, the American destroyer USS Walker (DD-163), a World War I 'four-piper', is part of the United States Asiatic Fleet.
Walker and her sister ship, USS Mahan (DD-102), enter a squall and emerge on an alternate Earth where humans never evolved, but two intelligent races, the Lemurians and the Grik (a race of evolved "dinosaurs" from Africa), are at war.
The Grik have a class system, in which the Uul are the soldiers, workers, etc., and the Hij are the leaders.
The Lemurians are peaceful refugees from Madagascar that possibly evolved from lemurs.