For the dog shot you were shooting at 1600 ISO and 1/30. Well, 1600 ISO on a 10D is probably going to be noisy, as we can see, and noise reduction, if used, will result in some softening of fine detail as it endeavours to conceal the noise. But more importantly, I doubt very much that shooting at 1/30 is sufficient for a living creature that appears to be in the middle of some sort of manouevre. The paw looks fairly sharp, but that is planted firmly on the ground. The rest of the dog looks to be on the move, and I think your problem here is subject blur. Also, if you look at the carpet and try to identify the DOF you will see that it is very slender indeed, leaving you with no room for error on focusing, and unable to keep the whole of the dog's head sharp, never mind the entire animal.
Personally I think you could have done with more light, since the picture is underexposed as it is, pushing the envelope on ISO, has insufficient shutter speed and probably insufficient DOF. Obviously direct on camera flash would look like a disaster, so either use bounced flash or shoot in an environment with better lighting. You can see light streaming in from the left in the background, but you chose to shoot with the dog buried in deep shadow and facing away from what little light there was. Your white balance is off too. There was nothing here the camera could have done to save you.
I've tried to do a bit of a fix up on the dog, but it is not easy to deal with the problems in this photograph. Here's the before and after view, showing the adjustments I applied....
.... and here's the resulting photograph....
I think you should be glad that you used a 10D for this. I dread to think what the results from a compact would look like.
