Rules:
Shoes off at front door. That way no dirt gets smeared on the carpet.
No food upstairs when they were little. Now they're teens that one has relaxed.
When DC are asked to take their stuff upstairs, I always say: Final Destination, which means don't just dump it on your bed or desk, put it where it actually should be.
I love routines. Like you I was raised in a pretty chaotic, grubby house with no rules or routines, so Flylady is my start point.
Best tip ever: 5 minute room rescue. Set a timer for 5 minutes and whizz round a room making it as tidy as you can in five minutes. Hall: Hang up coats, bags, pair shoes and stash them, toss junk mail and papers. Polish mirrors, bannisters, door handles.
Kitchen: put dirty cups and plates in dishwasher. Food in cupboards. Wipe surfaces. Sweep/mop floor.
bedrooms: dirty clothes in hamper, clean ones in wardrobe. Toys in baskets. Shake out the duvet and open the window.
Bathroom: polish taps and mirrors, change towels, bleach loo, quick scrub of the bath and shower stall. If you do it daily, it rarely needs more. Keep windolene, bleach and a polishing cloth under the bathroom sink. Clean bath itself with tail ends of shower gel.
It's amazing what you can do in 5 mins.
I also have a morning routine: feed cat, put on a laundry load, empty dishwasher while kettle boils and restack it if stuff has accumulated after dinner the night before. Wipe surfaces, make breakfast and packed lunches, clear away breakfast stuff. If you are a SAHM, you can reboot the laundry when you're back from the school run. If not, do it when you get home from school.
Afternoon routine - empty school bags and retrieve melted kitkats, bashed bananas and worksheets/letters from school and homework or reading books. Give DC a snack. Fold and put away dry laundry.
I keep two crates under the sink. One with all my cleaning stuff in it and the other for recyclable plastics, tins and bottles, so