Nothing holds up to traffic, human or canine better than grass. Tall fescue is the most durable of the fescues and  holds up to pet traffic the best. Adding obstacles in their path like a yard bench, decorative log, bird bath etc. that will cause them to slow down and break stride can also be beneficial. Let your lawn grow to 3 inches and keep it at that height so it develops strong roots. 
A few more suggestions
https://corporate.homedepot.com/news/products/5-lawn-care-lessons-help-make-your-yard-pet-friendly-paradise