It was common, since time immemorial, for tribes to see themselves as human beings and everyone outside the tribe as disposable alien species.
I don't know if I would go that far. People have always tended to think of their own "tribe" as being better than all the rest. Even as far back as the Old Testament, though, you find a movement to treat "aliens" with respect.
The modern idea of race, I think, developed in the Age of Exploration, when Europeans began to pull ahead of Asians, Africans, and other groups, technologically. Many of these technological advances were made in navigation, so Europeans began to compare themselves to Asians, Africans, etc, and decided that the European "tribes" were superior. So the earlier sort of tribalism expanded, and the Asians were put into one racial category, dark-skinned Africans in another, Europeans (or at least some of them) in another, etc.
By the nineteenth century (if not sooner), European and American thinkers developed formal and "scientific" reasons for what seemed to be an inherent superiority in some races, and inferiority in others. That is when words like "Caucasian" entered the discussion, based on the notion that the prettiest white people came from the Caucasus region. (No, seriously.
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The Creationist in me speculates that Darwin may be to blame for influencing scientists to look for genetic explanations for differences between human cultures, rather than spiritual or moral ones.
But to address the actual thread topic:
Suspicion or dislike of people different than ourselves is a common human trait, but we know that humankind lived for thousands of years without our current ideas of race. We may do so again.
