Clean your pet's feet before letting him into the house. For dirty feet, try a water dip, then a towel. Any caked mud will turn into muddy water and will be easier to wipe off. (Better the towel than the carpet!) Use a damp towel to wipe the floors, one that's big and reusable. Maybe get a large towel as the dog way station by the door, then dip, wipe, release?

When hunting for an odor eliminator for your carpets, look for a product that advertises itself as "enzymatic" or one that contains enzymes. Off the top of my head the two I can think of are Nature's Miracle, and Biokleen Bac-Out. Anything that is not enzymatic may cover up the odor with a stronger more pleasant smell, but it won't get rid of it (and your dog can still smell the original odor). Enzymatic cleaners actually break the source of the odor down using enzymes.