Tengen Toppa Gurren Lagann, World Destruction: Sekai Bokumetsu no Rokunin Recommendations
Same idea with beastmen ruling over humans.
These two series follow a similar story line, in which humans live under the shadows of "beastmen" which are the ruling species of the earth. Through out the series humans are being persecuted, and constantly fighting the "beastmen" to reach their goal.
Changing the world is not easy and in both these series, the protagonists try to just do that. In addition, other characters join them in the cause of their rebellion.
There is comedy, drama, and hints of romance in the series. Both anime also contain supernatural elements as well as action. In Gurren Lagann, there's the little bonus of mecha and some Yoko action of course ;)