Most people are surprised to learn that most vets aren't trained much in nutrition. They get a couple hours on it in vet school. AND... their books and supplies for the nutrition hours are paid for by the big dog food companies such as Science Diet. It is no wonder they recommend it and sell it in their offices.
Personally I think raw is the best food. It is species appropriate and with all the recalls and problems with manufactured pet foods, you know EXACTLY what you are feeding. But it is a personal choice. It takes some effort. You aren't just scooping kibble out of a bag. A prey model diet is 80% meat, 10% bone, 5% liver, and 5% other organs. You will have to decide what is best for you and your dogs. you are interested in feeding raw, just ask and we will help you. There are several people here who feed raw.
If you are looking for a good quality kibble, consider Wellness or Wellness Core, Taste of the Wild, Canidae, Innova, Evo, Orijen, Acana. Dogs don't need carbs, so a grain free diet is best. Having said that, some people feel a lower protein food with grains is better. You will have to do your research, try some foods, and find out what works best for you and your pups.
You might also consider high quality canned food. It is MUCH better for their teeth and offers a more meat based, more natural diet. (Kibble cleaning teeth is a MYTH. It's like brushing your teeth with crackers. Doesn't do a thing for teeth.) Of course if you are feeding high quality canned (at about $2.00 and up per can), you could be feeding the very best raw diet, so that is something to factor in if you are concerned about cost.
here's a couple sites to get you started ...