They lived under a rock in some kind of kingdom under there. I believe the king and all of the good guys were green. The evil guy was after some kind rock or I think it was some kind of crystal or something that they were after. I also think there was a narrator for the beginning and end.

The Moonstone Gem (http://www.amazon.com/The-Moonstone-Gem/dp/B000FP6F3Q) or The Crown of Bogg (http://halloweenspecials.blogspot.com/2009/11/crown-of-bogg-1981.html). Probably the first one.