After the misunderstanding that I am referring to host keys instead of login keys, I decided to dig into this a little myself. The main point was to establish whether the formats are compatible, not whether they're different (I knew they are).
Trying to install dropbear over a system that already had OpenSSH of course failed miserably, but this wasn't the point of the exercise. During the installation (and before the failure) the output said:
Converting existing OpenSSH RSA host key to Dropbear format.
So a quick apt-get source dropbear and grep-ing inside the debian subfolder yielded:
dropbear.postinst: echo "Converting existing OpenSSH RSA host key to Dropbear format."
Promising. The relevant lines in the dropbear.postinst script read:
echo "Converting existing OpenSSH RSA host key to Dropbear format."
/usr/lib/dropbear/dropbearconvert openssh dropbear \
/etc/ssh/ssh_host_rsa_key /etc/dropbear/dropbear_rsa_host_key
Apparently dropbear comes with a tool named dropbearconvert, which has a .c source file in the source and comes with a man page: dropbearconvert(1). Because I was unable to come up with an online version of the man page, here the gist:
SYNOPSIS
dropbearconvert input_type output_type input_file output_file
[...]
OPTIONS
input type
Either dropbear or openssh
output type
Either dropbear or openssh
input file
An existing Dropbear or OpenSSH private key file
output file
The path to write the converted private key file