From Dragon Ball Encyclopedia, the ''Dragon Ball'' wiki
The Tsufruians, a very peaceful, yet technologically advanced race, shared their planet with a very primitive, barbaric race known as the Saiyans. In the Dragon Ball GT: Pāfekuto Fairu and the Dragon Ball: Sūpā Ekisaitingu Gaido, as well as from bits and pieces revealed by Baby, North Kaio, and Vegeta, it was revealed that the Saiyans themselves actually originated on Planet Saiya. They were one day driven away by the Original Super Saiyan. By unknown means, the Saiyans either acquired or built many spaceships which brought them to the Tsufruian homeworld.
It was explained by North Kaio, and later by Baby, that the Tsufruians had used their technological skills to construct and live in great cities. However, North Kaio stated that the Saiyans on the other hand lived in small primitive villages on the outskirts and badlands of Planet Plant. He also explained that although they shared the same planet, the two races rarely confronted each other and stayed relatively peaceful for many years. However, after awhile, the Saiyans began to grow tired of living in filthy primitive villages (as well as allegedly being treated like slaves from what Vegeta mentioned), and so it was devised that they would start a great war for the planet against the Tsufruians.
The start of war
Led by the command of the great King Vegeta, the Saiyans, using their great power and brute strength, attacked the Tsufruians. Although physically the Tsufruians were much weaker and smaller than the Saiyans, they had advanced weaponry and technologies at their disposal. As the war waged on both sides, the Saiyans and the Tsufruians each won their fair share of battles, and for the next ten years the horrible war waged on.
The tide turns
As the war continued with no end in sight, something occurred that brought the conflict to a quick and violent end. When a full-moon appeared on Planet Plant, something that only happened every seven to eight years on the planet, the Saiyans transformed into Great Apes. This transformation greatly increased their power, and within a few short hours they completely annihilated the Tsufruians from the face of the planet, thus ending the war. The Saiyans then claimed the planet as their own, and it was renamed Planet Vegeta after their great leader who had led them to victory.
Over the next few years, the Saiyans began rebuilding and constructing their empire. North Kaio explained that there was a problem. With the Tsufruians gone, the Saiyans now had no one to battle but each other, so they built a spaceship and visited a nearby planet named Planet Arcose, home of the Arcosian race. The Arcosians had great wealth and technology, and were apparently members of Freeza's Force.
The planet was not suitable for the Arcosians, and therefore they hired a group of Saiyans to attack and take over a new one for them in exchange for money and technology. Not too long afterwards, they met the galactic dictator Freeza, who then annexed the planet and forcefully drafted all Saiyans into his army. After seeing the Saiyans' will to fight and their great power, he made them his official pirates and had them take over entire planets so that they could be sold to the highest bidder. This continued for many years until Freeza began to grow wary of the Saiyans' ever growing power, fearing that one day a Saiyan would arise that would be strong enough to challenge him. In 737 Age, with one devastating attack, Freeza blew up Planet Vegeta, taking almost all of the Saiyan race with it, with the exception of a very select few (only Son Goku, Raditz, Vegeta, and Nappa in the manga).
Though the Tsufruians were rendered extinct in approximately 730 Age, traces of their race managed to survive – most notably Dr. Raichi who appeared in Dragon Ball: Plan to Eradicate Super Saiyans and technically died on the same fateful night as the rest of the race. However, he was resurrected as a Ghost Warrior by his own creation, Hatchiyack – a machine designed to amplify 'the power of hate' in order to help the Tsufruians fight back and defeat the Saiyan menace. Both of these creatures were successfully destroyed by the collective might of the remaining Saiyans, Goku, Vegeta, and their descendants.
The only other survivor was the Tsufruian experiment Baby, a genetic experiment combined with the genes of the current Tsufruian King, who took his revenge in Dragon Ball GT. Though Baby himself was not an actual Tsufruian, he possessed their genetic information (notably that of the last Tsufruian King as mentioned above), making him a DNA archive for the race. In 789 Age, Baby managed to find the remaining Saiyans after encountering Goku, Trunks Brief, and Son Pan in space and later proved to be a powerful foe, mind-controlling the people of Planet Earth and recreating Planet Plant, which was later named Planet Vegeta when only the Saiyans lived there and destroyed by Freeza, in the form of New Planet Plant. Finally, Super Saiyan 4 Goku destroyed Baby by blasting him into the Sun from the reborn New Planet Plant] with the Kamehameha.
- It is unknown if Bardock or any of his team members are veterans of the Saiyan-Tsufruian war, however, they all appear to be similar to the age of King Vegeta, so it may be possible.