Agree with ok4450. Is the car dealership acknowledging they screwed this up? This is why they have insurance, and I believe you have a legitimate claim. Ask for the name of the dealership’s insurance carrier. If they refuse to give you the info then get a lawyer. I’m sure the service dept. mgr would rather the dealership owners never hear about this, which is why you need to make sure the dealership owner and business manager are informed.
Towing the car back to the dealer was a good move. It makes is harder for the dealer to put the blame on you. Document the mileage at the oil change as per the invoice and the number of miles driven since leaving the dealership. Make and keep careful notes about everything, who the service writer was, who said what and when. Has it been determined that no oil was put back in the motor, or did the oil leak out from a defective filter, or unsecured plug in the oil pan?
The only action you could have taken to avoid engine damage was to check the oil level at the dealership before driving the car home. This is a good practice but the assumption is the car is ready to drive when the bill is paid and you get your keys back.