The Roman Holidays (1972)

In its sit-com sensibilities and with its extremely catchy theme song, this Hanna-Barbera series closely followed the model of its famed 1960s predecessors, “The Flintstones” and “The Jetsons,” though it lasted only one season (13 half-hour episodes). It depicted a regular family circa 63 CE — dad Augustus “Gus” Holiday, his wife Laurie, their daughter Precocia, their teen-aged son Happius (nicknamed “Hap”), and their pet lion Brutus — as they deal with distinctly modern problems, in particular with their landlord Mr. Evictus of the Venus de Milo Arms (who was voiced by Dom DeLuise).

More: http://www.toonopedia.com/romanhol.htm

https://www.imdb.com/title/tt0068125/