I remember reading this around the age of ten, which would be about 1984. The aliens were lizard people very similar to the ones from "V" on television. A kissing scene from the book describes their forked flicking tongues entwining. I also recall a weapon used by the humans that seemed to be...exploding foil-wrap balls? The human family was led by a father with several children who befriended and fought alongside a lizard couple against the lizard race. The cover art on the book seemed to be a convertible-type transport with no top and the lizards driving. Thanks!
This was a novel. I recall it being just one book.