I don't think there is any really satisfactory explanation except to say that the verb "dare" is quite unusual. Sometimes it is used as a full verb, while at other times it is used somewhat like a modal or auxiliary verb. The full form is acceptable in all circumstances; the auxiliary-like form is more restricted.
New words, one handy idiom, and a 2-minute quiz — delivered to your inbox to keep your streak alive.
Anonymousdare in negative or interrogative sentences should be used without to.
sincerely zamani