Add pieces of driftwood along areas that you want to keep your dogs out of, such as along a flower bed or garden. The driftwood not only serves as a barrier to your dogs, but can be a decorative addition to your landscaping.
Plant a large tree to provide some shade for your dogs. If your entire yard is bathed in sun at all times, your dogs will not have a comfortable spot when the weather gets hot.
Incorporate hardscape elements that are easier on your dogs' paws. Smooth flagstones and pebbles are better than tough gravel.
Use mulch in your landscaping that is soft and dog-friendly. Small cedar chips are a comfortable option for your dogs to walk on. The mulch will also help keep your dogs from digging.
Provide a spot in your yard that's just for your dogs to dig. The spot should have soft dirt or sand, which will encourage the dogs. This both makes the landscape more dog-friendly and discourages digging in your garden.