I know this feeling all too well! Things that have helped me:
-Swapping notes with a friend who understands my difficulties, or photocopying their notes so I at least have the information
- Recording the lectures on a Dictaphone (with permission from the lecturers) so I can go and listen back to what was covered
- Asking the lecturer for any handouts or powerpoint slides in advance of the lecture, so I have fewer notes to take and can annotate around the printed slides. If there aren't slides, asking the lecturer to let me know the key areas the lecture will cover in advance so I can focus my note-taking around those.
-Getting the reading list in advance and doing at least some reading prior to the lecture, so that the lecture is more like a way to support my learning than the place I'm trying to learn from in the first place - that way I only need to note down information I didn't cover/remember from my reading so can spend more time listening to the lecture.
Does your university know you have dyspraxia? Most of the above were suggestions from the neurodiversity team at my uni. They also have study skills sessions on note-taking in lectures but I haven't been to any yet. I remember reading something about a pen that helps with this as well, that records audio when you are writing so that you can listen back specifically to those parts, but I can't remember where I read that sorry