I'm very fortunate in that I work full time but have a very flexible job and a 5-minute commute. DH works too, and travels quite a lot, though I actually earn several times a much as he does!
I don't need to work loads of overtime, despite having a very generous salary and ample annual leave. I'm extremely focused in the time that I'm in work though - it would be very easy to do extra hours if I wasn't like a machine when I'm there!
I'm a firm believer in the notion that work expands to fit the time available.
When dd was little, we had a nanny in the mornings and then I'd be at home until DH took over in the evening, and I'd do the rest of my working day while dd was asleep. It meant I had plenty of time with her throughout the week without having to reduce my hours. I'll admit it was a long working day though, as I often didn't finish till 10/11pm.
When dd was at primary school, I did the morning school run every day and picked up after school once a week. DH picked up a couple of days and my parents did a couple too - it felt like a very nice balance.
These days, dd is at secondary. I'm almost always at home in the morning when she leaves at 8am, so I leave for work just after she goes out. I'm able to give her a lift if she is running late or has a lot to carry. She then goes to her grandparents a couple of nights after school (they feed her and then take her to her hobby) and I work considerably later on those days as I wouldn't see much of her anyway. I then pick her up from said activity when she is done.
The rest of the week, I either pick her up at 4.30/5ish from an after school activity if she has one, or she walks home and I get home around half an hour to an hour after she does. She's usually doing homework in that time anyway.
Honestly speaking, I feel like we have loads of time together. We hang out together in the evenings and at weekends, and we get on very well. I'd say that we're very close, and she is great company now that she is a teenager - though she is spending an increasing amount of time with her friends now as well, so sometimes I get pushed aside.
We both have less time with my DH, but that's because he is always travelling. DD has an amazing relationship with my parents, too - we have been very lucky to have their help and support over the years.
I feel lucky to have maintained my own world and my own identity in the workplace, with opportunities to achieve and progress as an individual. DD is interested in hearing about my day, just as I like to hear about hers. I'll be honest, the money really helps too. I love being able to take our family on nice holidays and saying yes to the stuff that dd wants to do, giving her some of the opportunities that I never had. She has expensive hobbies and a couple of her friends have recently had to quit due to the cost. I'm happy that my income means that she has not been in that position, and I don't really feel that I have had to sacrifice much for it.
I know that I'm in a very fortunate position in that few people are lucky enough to have such flexible roles with the kind of salary I'm on. I'm lucky that I have no commute, but that was by design as we bought our current house when I got this job. And I'm very lucky that my parents moved across the country to be near us as life would have been so much more difficult without their help and support.