If you don't want the extra step of body lotion you can try the olay ribbons body wash. I get dry skin in the winter, and when I use this I don't need an extra lotion. If I use another soap for more than I day, I have to use a lotion because my legs get so dry.
For lotions I like Lubriderm, and St Ives, but I don't think they would work well on really dry skin.