Tailored floor mats are available for most popular cars in various materials including rubber and carper / velour style.
The beauty of these mats is that they can be removed and cleaned / washed outside of the vehicle. Vacuuming, carpet washing, jet washing, etc will usually return most floor mats to a pristine finish and when they eventually do become worn out, they can simply and inexpensively be replaced.
I would suggest getting the ones which are specifically tailored to your vehicle. The "generic" / universal mats can move around on the floor, curl up and interfere with the operation of the pedals.
We have three Volkswagens, two of which are equipped with tailored rubber mats. I personally prefer these as they are hard wearing and can easily be cleaned. I also have a tip for finishing these; black boot polish. Always brings them up like new.
In our other Volkswagen we have carpet mats which do the job but are now starting to wear and will need replaced soon (they have done over ten years of service). In all of our cars, the carpet under the mats looks brand new.
Also worth considering, you can purchase a tailored "boot mat" to line the boot / trunk floor with from many of the same places as sell the floor mats.