I remember it had a child or children.
Probably about a family in a cave with magical stones. Believe they were stones not crystals but they were colored. The show was less animated and more realistic looking.
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Land of the Lost (1974) fits in that it is now old, involved "caves" (the pylons) with gemstones which could be used to fight off enemies (the Sleestaks, dinosaurs) and it was partially animated in that there was much use of stop-motion filming.