IMO, there is NOTHING that can clean your dog's teeth better than a raw bone (other than a dental scaling). Brushing teeth will just *never* cut it.
I won't give rawhide to my dogs, but when I did a long time ago, all they would do is turn to mush. They never cleaned. Cocoa LOVES pig ears, but they don't clean well either.
Not all dogs are really big into chewing. Cocoa is only a moderate chewer with the raw marrow bones I used to give her. She'd chew/lick them until the meatyness to it was gone, and then walk away. She never got down and really chewed and knawed on them to clean her teeth. I wish she would, but she just doesn't "self clean" her teeth really well with bones alone, so I do have to "supplement" her teeth cleaning with yearly dentals (less often if I could have fed her more bones more often). Fudge, however, was the biggest chewer I've ever known. Not only are his teeth PEARLY white at 10 years old, but he's worn then down a bit. All thanks to bones and any of the other odd things he chewed on. If they weren't worn, you'd swear he couldn't be over a year old with how perfectly white they are. I've never before seen a dog his age with that clean of teeth.