If you want to go scientific about these fantasy creatures, allow me to add my 2 cents.
You seem to assume all cavities and lungs are filled with air. But with the dragons of D&D this might not be true? The moment they start roaring, the next thing may be a breath-weapon so all the pipes might be full of fuel (fire), acid or poison. In all cases, it is likely that these molecules are much larger than air, meaning the sound is even lower. Dragons that have a cold or electric breath weapon - well, I don't even know how that works in the first place.
Here's my point about gas heavier than air: