I have 4 border collies and while they don't noticeably smell in a well-ventilated environment, come morning when they've all been shut up in the kitchen overnight there's a definite slap of doggy whiff in the air. Opening the back door clears it out in n time and aside from that the only thing to worry about it Peggy's breath (she's really, really old and old things of any species smell).
Edit: For what it's worth, of course, those who don't own dogs will always be more sensitive to the underlying smell of dog in your home. I'd still rather have dogs in my home than cissy whingers who bring hankies to sit on and keep a lint roller in their man-purse. I'd say it's worth having a dog for that reason alone, even if you don't like them that much.