Help Needed, interior mud removal

[PROJUMPER]

I am trying to clean the interior of my car, I have mud on the inside of the door and inner footwell panels, yet when washing off with warm water and a little detergent, it all looks great, until it drys! any known products that do a better job?

 

[A.J.]

Halfords Upholstery Cleaner, its in a Green bottle and its only £3.50 ! Came out best on the Auto Express review. I have used it and it is pretty good, the only problem is that there is quite a lot of foam. When it dries out though it does look good