Contrary to what most people think, I personally don't think that dry food is necessarily any better for their teeth. It's like saying that if we humans eat hard food like crackers or something like that, our teeth will stay cleaner. LOL
Silly analogy, I know, but, oh well
Try adding missing link to the cooked food that you make. That will ensure that they're getting nutrients that they need. Also, there are several books on cooking for your dogs where they include recipes for balanced meals. Do a search, there are some very good recipes on here. Also, one thing that I see in many of the dog food recipes is to add a bit of calcium carbonate to their meals. You might do a search on that as well. If you want to get them back on dog food but one that's more natural, I read about a food called The Honest Kitchen
www.thehonestkitchen.com It's made in a human food facility where and us only USDA human grade ingredients. Also, this is the only pet food made in their facility. Take a look and see if you like it. Good luck!