B.C.
One good thing to know about Skechers Twinkle Toes is that the electronics are encased in rubber and embedded in the heal (Googled how to change battery to learn that tidbit.), so you don't have to worry about shorting them through washing. The things to worry about are the rhinestones, laces, shiny taffeta, tulle, or other artsy flourishes. To protect those things, here is what I would do.
To begin with, I would fully immerse and swirl the shoes around in warm-hot water to loosen and displace most of the urine. I agree with the Mom who suggested soaking them in an enzyme spray for pet accidents, as those are designed to be color-safe on carpets. I would completely saturate the shoes with it, let sit for 20 minutes, and rinse with warm water (Personally, I would avoid Oxyclean, as some bad internet advice once caused me to ruin a few shirts I tried to stain-treat with it.).
You can quit there and dry them in the sun, but if you think they could use a good overall cleaning, here is a great tip: Wash them in the dishwasher! It works wonders on shoes, hats, baseball caps, and anything else you want to clean/sanitize without agitating in the washing machine. I use a product called Pink Miracle Tennis Shoe Cleaner (found on Amazon) to clean the really dirty parts (soles, bumpers), and I put them on the top rack for a spin through the dishwasher. Use whatever setting you are comfortable with. They will come out clean and sanitized and with rhinestones intact.