Raw meat and kibble (ratio depends on activity level and climate). Which kibble depends on what I happened to buy since I rotate every bag. Right now they're eating Evo RM but I also get regular Evo, Orijen, Wellness CORE, Legacy, Solid Gold (Barking at the Moon and Hundenflocken), Nature's VAriety and a few others... In the winter all kibble is grain-free with a high k/cal. During the summer since warm weather means reduced excercise I'm less picky about the kibble but maintain high quality.
ETA: I supplement too with Fish Oil (espeically during shedding season!), Glucosomine, and fresh foods (eggs, fruits, veggies, etc)