Ok, heres the strategy I use. It needs to be intelligent, so your allies can work on tech with you. Figure out what they're researching, and do something else, share out the tech. The more planets the better, more research and the Dread Lords get distracted. You need plasma weapons to beat down the Yor, but thats later. First, you need medium ships to have a hope against the DL. Then, soldiering tech. With soldiering (planetary invasion, defence, and tir quan) all maxed out (maybe even soldiering and courage bonus) the DL won't be able to invade you anymore, unless they bum rush your planets, so your ships need to be fast. So the second thing is warp drive.
Held them off? good, this took me about ten tries before I tried it this way. Get those plasma weapons, you should still have 4 or 5 planets. Recover some from the DL if you can (You'll win with 5000 troops easy by now). Get your fast, powerful warp+plasma ships near that damn Yor planet, and clear the way. Get an escort fleet to protect transports from the DL. Take the planet, then charge head first to the objective. You should be ok, 3 transports per Yor/Drengin planet with all your bonuses.
This tactic took me two tries, but it generally works well. If you're having problems early on, get a big sensor ship to see when transports are on their way, use those fast ships to dodge fighters and take them out.