Canidae
Innova
Innova Evo
California Natural
Chicken Soup for the Dog Lover's Soul
Solid Gold
Natural Balance <-- found at Petco
Blue Buffalo <-- found at Petsmart
Timberwolf
...these are all good kibbles, you should look them up and try a few out, and see what works for your pup! ANYTHING found at a grocery store, and most kibble found at large petstore chains, are just poor quality. You're paying for crap, and you're paying a lot more than you would with a high quality kibble, because you have to feed wayyy more when you're feeding low quality.
Read the ingredients on the bag of Beneful; corn, sugar, salt, food colorings, by-products... does any of that sound like quality food for your dog? NOOO! Avoid corn, soy, by-products, meat & bone meal, preservatives, food colorings, & sugars. Look for a good meat source (Chicken meal, Turkey meal, Lamb meal, etc) as the first ingredient.
http://www.dogfoodproject.com has lots of great info!