I agree with above, it depends how your house was pre-kids.
I hate mess, I can't stand to see laundry drying everywhere and I cannot relax if my house is a tip. Pre kids it was decluttered and tidy, because there was no reason why it would be a mess. As long as there is a place for everything, it takes the same amount of time to chuck things where they belong than it takes to throw them on the floor.
It works the same way with kids. House is tidy when I go to bed, and I clean 1 hour first thing every morning, so by 7 or 7:30 it's done. I can't have a lay-in, the kids wake me up! It leaves the rest of the day to enjoy your life.
I have a dish washer so anything dirty goes straight in, and it takes second to wipe the tops in the kitchen.
The kids play as much as they want with what they want, but when they have finish, the toys go back in their storage.
I never tidy up before guests turn up, why would I? At worst I ask the kids to take the toys from the living room to their own bedroom. Everything else is good enough for me, so good enough for people who don't live here.
Everybody has clean clothes first thing in the morning, if they get too dirty they get changed, otherwise they are fine for the day.
As long as it works for you, who cares what everybody thinks? If you don't like the state of your house, work on finding appropriate storage and system for absolutely everything. Your house will never be tidy if there's literally nowhere designed to put everything when you come home - shoes, coats, hats, mail, handbags, book bags, school bags, sport kit, shopping and the list goes on.