We consider linear damped wave (resp. Schrödinger and plate) equations driven by a hypoelliptic "sum of squares" operator L on a compact manifold M and a damping function b(x). We assume the Chow-Rashevski-Hörmander condition at rank k (at most k Lie brackets are needed to span the tangent space) together with analyticity of M and the coefficients of L. We prove that the energy decays at rate log(t) − 1 k (resp. log(t) − 2 k ) for data in the domain of the generator of the associated group. We show that this decay is optimal on a family of Baouendi-Grushin-type operators. This result follows from a perturbative argument (of independent interest) showing, in a general abstract setting, that quantitative approximate observability/controllability results for wave-type equations imply a priori decay rates for associated damped wave, Schrödinger and plate equations. The adapted quantitative approximate observability/controllability theorem for hypoelliptic waves is obtained by the authors in [LL19, LL17].