It seems like the exception happens you use try to pass a list if the parameter object is of type DynamicParameters.
My workaround was create set param object as an anonymous object; the following code worked instead.
using (var connection = new SqlConnection(ConfigurationManager.ConnectionStrings["server1"].ConnectionString))
{
connection.Open();
connection.Execute("DELETE FROM company_name_industry_map WHERE company_name_id = @company_name_id and industry_id IN @industryIds",
new { company_name_id = entry.Id, industryIds = deletedIndustryIds });
connection.Close();
}