If you selectively only pick the cases against US companies because that's what you hear about in the US media, but ignore the cases against EU companies, then I can see how you can get that impression. But it's not really the full picture.
More importantly, and regardless of what you think of the merits, the EU is not the beneficiary, since those tax breaks are to be paid to the respective member state. The benefit for the EU – one way or another – is a more competitive environment, not the money it does not even get. So, "plundered" is an inaccurate term either way.
And you hear a lot about big US companies, because (1) smaller US companies are less likely to operate in the EU and (2) US antitrust law has been watered down since the late 1970s (starting with Bork's "Antitrust Paradox"), leading to a concentration of corporate power that's simply not present in Europe [1]. As a result, antitrust cases against EU companies tend to be more about collusion, while antitrust cases against US companies in the EU tend to be more about abuse of a dominant market position.
[1] See, for example, OECD self-employment rates and how America is near the bottom: https://data.oecd.org/emp/self-employment-rate.htm