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Since ancient times we had problems with crooked teeth. They interfered with proper eating and were not too aesthetically pleasing. Because of that, we tried to invent mechanical aids that helped us to fix them. Read about history of orthodontics.
Except with dentures, missing teeth can be replaced with dental implants. People made and used dental implants since some 4000 years ago, using bamboo pegs and seashells instead of missing teeth.
History of dentistry is long and ... well - painful. But since the people began using natural ingredients to treat illnesses, they used it for teeth problems also. And slowly but surely, we became more adept in treating tooth decay and other oral problems.
Toothbrushes are the most important instrument in maintaining of oral hygiene. At first they were made from primitive materials that grew their own bacteria but today we have toothbrushes that do their job much better.