You're going to have to do the obvious - empty everything out of the garage first. See if you find a dead animal or other smelly item that's still in there causing the problem. Once the garage is empty, you will need to sweep it out and thoroughly clean and disinfect every surface - walls, floor, door, etc. I would use a bleach solution, keeping the garage door open so that you do not have issues with chlorine gas because that's a big area to bleach. You will also need to clean every item that was in the garage because if a cat marked the garage, they will have marked these items as well. Wash everything off before you put it back in the garage.
You may have to dispose of some items, particularly things that are fabric and cannot go in the wash such as golf bags, patio umbrellas, etc. unless you can clean them some other way.
Only when you're sure everything is odor free put the items back in the garage and make sure that the doggie door is sealed and there's no other entry to the garage or the cat or whatever other animal who was making themselves at home in there will return.
Also make sure that you don't have food sources around your house such as bird feeders or pet bowls as it could have been a different type of animal such as a raccoon.
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