It's generally better to resummon your Dremora to be infront of you anyway. Permanent summons always get stuck behind you in dungeons which negates a lot of their usefulness.
You can find some Dremora in front of Mehrunes Dagon's shrine if you really to reanimate them. Know however that Dead Thrall won't work on them only Dread Zombie. Dead Thrall only works on humans, mers, khajiit, and argonians.
Unfortunate truth. While having perma Dremora would be cool its not really practical for dungeon running.
Personally when I am running a dungeon I keep summoning dremora infront of me anyway
Though when I'm just walking I prefer to keep storm thralls summoned because they snipe anything coming at me.