Every morning I get up and make the bed straight away and get dressed, then nothing else seems so bad. Empty the dishwasher while the kettle's boiling. Do any little jobs (wipe marks of cupboards etc) I put a load of washing on every morning too.
I tidy after brekky before I do the school/gym thing. Then a quick tidy in the middle and at night. That way nothing builds up. The kids toys are sorted simply so they can put away after use.
I wipe the bathroom over every night when the kids are in there.
After dinner I make sure the kitchen is tidy and done properly every night and take out the rubbish. There's nothing more demotivating than getting up to a mess in the morning.
Every couple of days I clean the toilet.
Sundays I dust and vacuum and then mop (after the kids are asleep). I also do the shower/bath on Sunday nights when I hop in.

Sounds like a lot, but I have done it this way for a looong time, so it's all quite quick now.