Our routine is the same whether it's me and DP (most of the time) or just me (rarely).

Start cooking dinner about 5pm, depending on how long it will take. We aim to have it on the table by 6pm. DS has a snack about now usually.
Often the TV goes on just before 5:30 (In the Night Garden) to occupy DS while dinner is getting organised.
Dinner at 6pm - we all try to eat together but occasionally DP and I eat later.
Bath somewhere around 6:20-6:30pm. One of us usually gets into the bath with DS, the other one gets pj's ready and cleans up after dinner.
Out of bath somewhere around 6:45pm, dried and pretty much straight into bed.

We have tried reading books but this seemed to hype him up. Tried offering sippy of milk but he usually refused so now we give it with dinner. Most of the time he is down by 7pm and the kitchen is reasonably tidy but this is with both of us. If I'm by myself then cleaning up happens last.

HTH. Every family is different in terms of what works for them. If your night routine is not working for you (and I suspect from your 'juggling' comments that it's not) could you discuss it with your DF? Tell him it's not working for you, is stressful, whatever and see what he thinks? He may not realise you need/want a hand? He may be happy to do one part of it (like the bath, or the clean up after dinner) which would ease things for you.

I hope I haven't overstepped the mark here. The night routine can be stressful.