You COULD try to file a claim for cleaning, but it's as likely to get stuck in Airbnb resolution hell and cause a lot time wasted.
Your biggest power is in your review. I wouldn't raise the issue with the guests, but just leave them a scathing review. Mark them one star on house rules and communication and give them the thumbs down. This will prevent them from being able to InstantBook in the future, and help other hosts avoid them.
"While they left the space in good shape, I can not recommend -guests-. They snuck a dog into my allergen-free, pet-free home with no notice and in violation of my house rules. Home sharing relies on trust. I would not let these people back into my home and I recommend others avoid hosting them.