Beneath The Planet Of The Apes is a direct sequel to the original Planet Of The Apes, but it ends with the Earth literally exploding, and then Escape From The Planet Of The Apes reveals that two characters were able to travel back in time prior to the explosion – which then sets up the events that follow in Conquest Of The Planet Of The Apes and Battle For The Battle Of The Apes.
Meanwhile, the Caesar Trilogy and Kingdom Of The Planet Of The Apes (which is hopefully going launch its own trilogy) is a depiction of the original timeline that will eventually lead to the events in the original.
This is certainly the case with Kingdom Of The Planet Of The Apes, which is firmly canonical with War For The Planet Of The Apes but set “several generation later.”
That’s actually how I prefer to look at the Planet Of The Apes continuity personally: the time travel in Escape From The Planet Of The Apes establishes a separate timeline from the franchise’s seminal film instead of creating a loop.