Pet urine has a distinct, unpleasant odor that you do not want to have lingering in your home. Cleaning it out of tile is important not only for you to be able to be comfortable in an odor-free house, but also to protect it from future stains. If your pets can smell urine on tile, they may urinate on the same spot again and continue to "mark" it.
If the urine stain is fresh, first wipe it up with a cloth or with paper towels. Once you have soaked up all the urine, rinse the area with water and dry again. Create a strong solution of dish detergent and water and wash down the tiled area where the mess was. Scrub at any grout that might have been stained with an old toothbrush or a nylon brush. Once it has all been cleaned, rinse the area with cool water.
For an older stain on tile that still has a lingering odor of pet urine, use white vinegar. Create a solution of one part vinegar to one part water. Use a soft cloth to wash the stained tile. If the odor is coming from the grout, dip a toothbrush into pure vinegar and use it to scrub the grout. Vinegar is acidic and there is a chance it could etch your tile, so before using it, test a small area. Place a few drops of vinegar on the tile and leave it there for several hours, then check to see if it caused any damage. If it does not, then the water and vinegar mix should not harm the tile.
You can make an odor-removing paste out of baking soda and water. Begin with 1 cup of baking soda. Add water to it until you have a thick paste. Slather the paste over the tile that smells of pet urine. Work the baking soda into the grout, if it is the source of the odor. Leave the paste for half an hour, then rinse it away. If the odor returns even after using the baking soda paste, you could need to try an enzymatic cleaner, which will target the proteins that urine stains leave behind. Sealing the grout will also block pet odors inside of it from entering the room.