If you've lost connection with the DHCP Server, you can run sudo service networking restart. If that doesn't work, restart your VM. If you still get no IPcheck your VM's Networking Settings to make sure the Cable Connected box is checked.
Static IP
In Kali VM, add the following to the end of /etc/network/interfaces:
auto eth0
iface eth0 inet static
address 10.0.0.1 # new static IP
netmask 255.255.255.0
Then run:
sudo ifup eth0
sudo service networking restart
Find VMs on your Internal Network
If you are using a DHCP server, just nmap <your_ip_range>. You can cross off the DHCP server address and your attacker VM's address (which you can check with ifconfig eth0). Vulnerable boxes usually have more ports open too.
Add Hostnames for IP Addresses
Just add a line to your /etc/hosts file in your attacker VM.