Have a rubber mat and towel by the door so that you can bring your dog inside after his daily walk and towel off excess moisture and mud in a warm dry location. A rubber mat will protect your floors and prevent you and your wet dog from slipping.
Remove sticks and other large debris by hand, especially on the belly where debris gets tangled. Brush out your dog thoroughly to remove dirt.
Use commercial pet wipes to wipe off dirt and debris. Start around his mouth and face where he may have picked up bacteria and germs sniffing and investigating, and work towards his back end. Wipe his back side to remove residual urine and feces and dispose of pet wipes.
If pet wipes are not enough, spray your dog with a mixture of water and vinegar, especially if your dog is wet, as vinegar will help remove funky wet dog smell. Wipe stained areas with a face cloth soaked in the mixture and towel off your dog.
Use dry shampoo or cornstarch sprinkled over your dog and then brush off excess to get rid of dust and dirt.