I have a set time for doing set jobs.
My week day off I spend an hour in the morning cleaning upstairs. That’s a 5 minute general tidy, 15 mins bathroom, 10 mins hoovering, 10 mins dusting and then 20 minutes cleaning one room more thoroughly. Then I do an hour on a Saturday morning downstairs - 5 mins tidy, 15 mins hoover (inc. stairs), 10 mins dust, 10 mins mopping, 5 mins kitchen surfaces then 15 mins in one room. I do each bit against a timer so that I’m speedy and get it all done. We spot clean the floors / run the vacuum over when necessary - if either me or DH make a mess it’s cleaned up straight away. A cordless vacuum helps.
Bedding is washed on a Sunday. I do a load of washing a day, and before bed we all do a 10 minute tidying blitz, and make sure the dishes are done and the kitchen cleaned. I also give the loo and sink a quick wipe every morning while I’m getting ready, and put clean clothes away then too.
I’ve previously struggled with housework, and would spend a full Saturday trying to get it all spotless only for it to feel a mess again by the next morning. Then I realised it’s pointless to aim for perfection as it’ll never stay that way unless we move out. It’s definitely much cleaner now i stick to this routine, and as it’s all done regularly it gets quicker, e.g now the 10 minute dusting includes all skirting boards etc too.
First thing to do though is a thorough declutter and find a home for everything. Far easier to stay on top of the cleaning when it’s tidy anyway and there’s not crap everywhere.
It helps that I’ve managed to whip my previously very messy DH into shape and he now thankfully clears away after himself like a fully grown adult 
. He does almost all the cooking, shopping, gardening, DIY, and bin emptying.