The hysteresis or internal friction in the deformation of crystalline solids stressed cyclically is studied from the viewpoint of collective dislocation dynamics. Stress-controlled simulations of a dislocation dynamics model at various loading frequencies and amplitudes are performed to study the stress - strain rate hysteresis. The hysteresis loop areas exhibit a maximum at a characteristic frequency and a power law frequency dependence in the low frequency limit, with the power law exponent exhibiting two regimes, corresponding to the jammed and the yielding/moving phases of the system, respectively. The first of these phases exhibits non-trivial critical-like viscoelastic dynamics, crossing over to intermittent viscoplastic deformation for higher stress amplitudes. ; Comment: 5 pages, 4 figures, to appear in Physical Review Letters