We know that in season one, Rattrap was 150 cm tall (about 4'9". He's several inches taller in his Transmetal form). It's funny, but most of the Beast Warriors are as tall as humans!
I've seen it mentioned on various sites (none that I can recall at the moment, sadly) that Dinobot stood eight feet tall, transformed. I'm guessing that the majority of the transformer's animal modes are similar to the animal size itself (ie. Tigatron, Cheetor, Rhinox, Optimus Primal, Dinobot...), with exceptions like the insects, Airazor, and Rattrap.
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