Two children under 3 here - no family help, no cleaner. I have a full time, stressful job which also involves some out of hours working.
Housework I try and just keep on top of by cleaning as I go and doing two or three things at once, ie wiping down work surfaces, putting the dishwasher on etc while the bottles are sterilising, or while DD's bottle is cooling.
All toys are put away as we go, washing machine on as soon as there's a full load, and dirty dishes straight in the dishwasher, so there's no build up of work. I'm also a dab hand at bleaching the loo while conditioner is on my head doing its thing, and painting my nails while watching DS in the bath. Multitasking is key!
I'm not a stickler for routine or for things being "perfect." So it is fine if the children only have a bath 3x a week, fine if DS's tea is something simple like egg on toast, and fine if DS isn't in bed bang on 7pm.
We make housework "fun" and get the children involved - DS "helping" by listing socks, for example, and DD watching from her Bumbo. That way I don't have to wait til they're in bed to do it.
Exercise is also a big one for me. Through the week I fit it into my daily commute as much as possible, and at a weekend we involve the kids, who are usually taken along to races. I run most days and so does DH - this is non negotiable.
We don't watch much tv (which seems to waste a lot of people's time?) and always make sure the house is clean and tidy before bed, so we have a fresh start each day. Erm, that's about it!