It will get easier. At this stage of having a new baby everything feels overwhelming anyway, without having two high energy dogs to consider.
I had three dogs when I had my pfb and I can remember sobbing to my dh that I'd let my dogs down by having ds, because I had to walk them individually, so they were getting shorter walks as I was struggling to fit everything into the day. What I was missing was that they were very happy, healthy dogs, who actually coped incredibly well with our new arrival and were seemingly happy to adjust their schedules to accommodate him while he was tiny. Dh and I compensated by taking them on a couple of good long walks at the weekend, where I could enjoy playing with and training them while he took care of ds.
As Idir and Scuttle said though, it is perfectly possible to keep everyone happy, but you need to cut yourself some slack. Your dogs are members of your family and everyone in a family has some adjustments to make when a new baby arrives.
Things get thrown up in the air for a while, but they do settle down eventually. You get into a routine, baby gets bigger and needs feeding less often etc and one day you realise you have come out of the other side of the haze and you can go for a walk in the sunshine with both your beautiful new baby and your dogs. You can sit on a bench and feed your baby with a ball flinger in one hand and wear your dogs out that way if needs be - but - you don't need to be doing that now, what you need to do now is allow yourself to settle into your new role and your family to adjust to their new life.
If you are wracked with guilt and finding it's weighing you down, there is absolutely nothing wrong with paying a dog-walker for a while until you feel ready to start getting out and about with your dogs again.
Remember, that while yes, your dogs do need exercise and mental stimulation, they are not just about their walks. They are part of your family and you are part of theirs, you are bonded with each other and they would be far happier having some temporary disruption and a period of time where they are walked by someone else, than being parted from you forever as a result of what is actually a very short, but intense, part of welcoming a new family member.
The fact that you care enough about them to be this worried, tells me that you are already giving them so much more than many dogs owners do and that - when you are ready - you will find a way to meet everyone's needs. In the meantime, they'll cope.