The Autobots and Decepticons crash to Earth in Transformers #1 (May 29, 1984).
“ Four million years ago, they came from Cybertron, a world composed entirely of machinery… a world torn by an age-old war between the heroic Autobots and the evil Decepticons. These incredibly powerful living robots, capable of converting themselves into land and air vehicles, weapons and other mechanical forms, continue their conflict here on Earth. They are…THE TRANSFORMERS ”
The Transformers, the monthly comic book published in the U.S. by Marvel Comics, was the very first original fiction to feature the famous robots in disguise, as well as the longest-running. It started life as a four-issue, bimonthly limited series in 1984, but proved so popular that it continued publication as an ongoing monthly until spring of 1991. The series ultimately reached 80 issues and spun off several miniseries.
The series established the Marvel Comics continuity, which would form the basis for several successor stories over the years, including the Generation 2 series published by Marvel themselves only two years later, and the Regeneration One series which would reunite the creative team from the latter days of this series.