Unfortunately you can't escape Yoshi's release grab, the good thing though is, that chain grab is perhaps the only good thing Yoshi has on Ganondorf. (Not to discredit any good Yoshi players or anything.)
On runoffs (obviously) and purely flat, no platform levels like Final Destination kind of put you at the advatage for Yoshi in using his chaingrab on you. However, get any level with platforms, Battlefield, Norfair, etc and you can litterally stop Yoshi's release grab. This is because, take Battlefield for example, Yoshi's grab releases you high enough so that you can land on the platform. At most, Yoshi could get two grabs on you depending on where he grabs you.
This is why BF is one of my favorite stages to fight Yoshi, it almost completely nullified that one good advantage he as over Ganondorf, and once that's out of the way, IMO, Yoshi is one of the easiest character to beat.