Baking soda, white vinegar and club soda make effective homemade pet odor eliminators. For light-colored carpets or upholstery, a mixture of bleach and water is also useful. Each of these odor remedies is safe for use around pets.
To thoroughly remove pet odors from carpets or upholstery, first soak up the urine with newspaper or paper towels. Follow by rinsing the area with water. Remove excess water by blotting or by using a wet vac. Once moisture is removed, use one of the above products to eliminate residual odor and discourage the pet from using that spot as a litter box in future.