Look into the BARF diet for your dogs and cats. http://www.barfworld.com/
When we got our dogs 4 years ago, my wife said we would be feeding them raw food. I was skeptical, but the dogs are healthier, have better coats, do not get that crud in their eyes and their feces are smaller, do not stink and degrade within a couple of days. When we compared to the cost of premium dog food, it is cheaper, they eat less and there is more nutrition for the animal.
This weekend we slaughtered a bunch of chickens and many of the parts we do not eat go into bags that will feed our dogs for weeks. The pig we slaughtered a few weeks ago left us a couple of months worth of dog food and the cow that is going to the butcher next month will give us enough bones and scraps for the rest of the year. But, prior to raising our own animals, we would just shop for bargain meats at the grocery store - often less $ per pound than dry animal food. The bones and meat would be supplemented with sweet potatoes, plain yogurt, extra eggs from our chickens, excess goat milk, apples and a lot of other stuff you would not think that they would eat.