I feel like wiping down

EDIT: oops, I forgot to complete the title of the post. It had to be: I feel like wiping down the dog after every walk is not a clean solution.

I want to let my dog sleep with me in bed, or just have her cleaner. When I imagine how dirty streets are, I don't want to let my dog have those dust, dirt, and all the bacteria trapped in her paws. I guess washing after every walk with dog shampoo is too harsh, right? Wiping down also feels like it is not enough, rinsing with only water also not enough. I want to remove the dirt and bacteria together. I wonder what solutions do cleaning freaks have here to this?