。
She invited us to dinner.
Literal
She [topic-は] us [object-を] dinner [to-に] invited.
招く ('to invite') is the more formal and elegant verb for invitation — distinct from the casual 誘う ('to ask along, to invite to do something'). 招く suggests a more formal occasion: dinner parties, ceremonies, official events. The destination of the invitation takes に — '~に招く' means 'invite to [event/place].' 晩餐 ('dinner, banquet,' read ばんさん) itself is a formal Sino-Japanese word — much loftier than the everyday 夕食 or 晩ご飯 — and signals that this is no casual meal but a proper sit-down occasion.