This generally only applies to puppies who do not have their adult teeth yet and not to adult dogs. I think it is the tetracycline derivatives such as doxycycline that do this. Also Baytril (or enrofloxacin) should never be given to puppies because it causes joint problems. That's all I know off the top of my head.
I have yellow teeth and was also told it was from getting antibiotics as a child. Don't have a clue what they were though.