It was 1992/1993, and you could hear this coming out of your PC speaker (no sound card required)
[YOUTUBE="http://www.youtube.com/watch?v=LtH9Zs51Hyk"]Hyperspace[/YOUTUBE]
Orz
[YOUTUBE="http://www.youtube.com/watch?v=F5ecN92n6qI"]Ilwrath[/YOUTUBE]
[YOUTUBE="http://www.youtube.com/watch?v=-uYb58iANC8"]Utwig[/YOUTUBE]
[YOUTUBE="http://www.youtube.com/watch?v=9NcQOrAnnj0"]Zoq, Fot, Pik[/YOUTUBE]
[YOUTUBE="http://www.youtube.com/watch?v=0ltzbqutKrY"]Ur-Quan Kohr-ah[/YOUTUBE]
[YOUTUBE="http://www.youtube.com/watch?v=250mSNbWV7E"]Pkunk[/YOUTUBE]
etc
Some were improved on the 3DO version..
[YOUTUBE="http://www.youtube.com/watch?v=jjpAE_inNlE"]Hyperspace theme (3DO)[/YOUTUBE]
Or the free "Ur-Quan Masters" version:
[YOUTUBE="http://www.youtube.com/watch?v=3Bs5J8ofYfU"]Planet theme (remix)[/YOUTUBE]
Coolest Aliens ever!