Ooh, I'm so glad you asked, I have a wonderful system that has been perfected over 2 years but I can't talk about it in RL - people think I'm weird 
My aim is to get it all done without it impacting on "my" time, so:
I get up at 7am sharp and shower. Then I sort the recycling, put on the bread maker, empty dishwasher, quick tidy through house (if you do it everyday it takes less than 5 mins), empty washing machine (put on last night) and hang it out get dinner out of freezer if necessary and give both toilets a quick wipe round before getting DS1 up at 7:30. I have a cuppa with him while he eats breakfast, then he leaves for the bus at 8:50.
That gives me 25 mins before I need to get DS2 up so I do one or two weekly jobs each day
Monday - change beds (boys strip their own and bring sheets down and re-make them when they get home from school) quick hoover of whole house
Tuesday- Quick dust whole house, empty bins
Wednesday - Thorough clean of bathrooms (as opposed to the quick daily wipe round)
Thursday - mop kitchen floor (Ds has to get up a bit earlier so I can do it after breakfast)
Friday - Polish doorhandles and mirrors, clean inside one window
8:15 get DS2 up, get dressed and do my own hair and make-up.Have breakfast with DS2. 8:45 we leave for school and work
When I get in from work I spend 15 mins each day deep cleaning one room or group of rooms per week. That's when I move things to dust, hoover the edges of the room or clear out a cupboard. It works out that every room gets done once a month and again if you keep on top of it and do it regularly, there's not actually that much to do so it doesn't take long.
Dishwasher and washing machine run overnight each day, ready to be emptied in the morning.
DH does most of the outdoor jobs and is responsible for ironing. I find it easier to allocate him "his" jobs, rather than expecting him to "help" and being disappointed.
I meal plan on a Weds eve (takes 5 mins max but saves loads of time and money for the rest of the week) I do the shopping in between dropping off Dcs at Scouts/Cubs and going to my Yoga class once a week and I bake a batch of cakes every Friday when I get in from work.
By doing it daily in short bursts it doesn't really feel like "doing the housework" it's just your daily routine, like brushing your teeth.
Have I forgotten anything?