A drama that is sung is called a musical, or an Opera.
It also could be a piece of music similar to the German Lieds.
Many Lieder were set by Franz Schubert: The Earl King and Death and the Maiden are two well-known examples.
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That is known as an opera
Opera is a play to be sung by one or more persons with instrumental accompaniment and acted in costume. a drama that is set to music
Opera evolved out of Oratorio and such things as the Passion Play and the Stabat Mater, both religious drama but no staging involved- all sung,.
A drama, either tragic or comic, of which music forms an essential part; a drama wholly or mostly sung, consisting of recitative, arials, choruses, duets, trios, etc., with orchestral accompaniment, preludes, and interludes, together with appropriate costumes, scenery, and action; a lyric drama., The score of a musical drama, either written or in print; a play set to music., The house where operas are exhibited., of Opus
One of the earliest forms of drama was tragedy drama. Also, classical drama and romance drama were two of the very earliest forms of drama.