I think my kids' teachers do, on the whole a great and incredibly hard job, and are pretty underpaid.
I teach adults (and currently some 16-18 year olds too, in an FE college) and get none of the perks eg paid holidays, pensions etc (I work on a hourly paid contract basis) but would not deny that full-time school teachers absolutely earn their pay and perks, and more.
As a teacher of much older ones, I have to be on my feet for the whole lesson, it is intellectually and emotionally very demanding, I cannot go to the toilet or have anything to eat/drink when required, and every hour of teaching requires another hour of admin, preparation and marking. Compared to teaching ANY office job is a walk in the park - there is no office job where you literally cannot get the time to go to the loo, or have a cup of tea at your desk or whatever. I've worked as a cleaner, shop assistant, barmaid - all require you to be on your feet, yes, but have zero responsibility/stress and zero work taken home. You are paid for all the hours you work.
It's interesting that all those knocking teaching and saying it's overpaid have never actually done the job, or anything equivalent. I have very similar experience and did consider retraining to be a primary/secondary teacher, but decided against it, because I knew, on the basis of my own teaching of adults and of helping in my kids' school, that it would be far, far, far too hard work for the money (long holidays or not).