The Voyage of the Minotaur — Wesley Allison

In a world of steam power and rifles, where magic has not yet been forgotten, an expedition sets out to found a colony in a lost world. The Voyage of the Minotaur is a story of adventure and magic, religion and prejudice, steam engines and dinosaurs, angels and lizardmen, machine guns and wizards, sorceresses, bustles and corsets, steam-powered computers, hot air balloons, and dragons.