I would not choose velvet for a high use room especially with pets, maybe a microfiber would be a better choice.

a single seat cushion would be especially bad as you couldnt rotate it around for even use.

We have had a few velvet couches and I can't say enough about them. As with any fabric, the quality will make a difference and we also had them treated by the manufacturer, so spills were a breeze to wipe off. We had a set for over 25 years (in livingroom so not used daily and then moved them to our den, where we used daily). We purchased a new set of couches about 5 years ago for the den and there is no wear and tear even with our large dog (English Setter..pictured) on it all the time. You may want to read any consumer reviews on the company before deciding.

I agree with Maureen, good quality will last for years and Norwalk is good. Treat them for spills and if dogs shed you will have to brush, but they should not be a hazardous issue. I have red velvet pillows on my sofa and a Westie and I do have to brush, but love them both.

An entire sofa in velvet with a dog sounds like a lot of brushing so I would not do it if it's the sofa in the main living area. I would consider a lower maintenance sofa like leather and add velvet pillows.