We spend about 30 minutes per day cleaning. The trick is the less stuff you have the easier it is to tidy and clean. We have a toddler and a baby on the way and I keep toys to a minimum, we rotate toys once per month and keep the rest in storage boxes away. Only have a couple toys out in the main living space and the rest away in bedrooms, etc. I also have my toddler pick up his toys once play time is over (he is almost two), sometimes that means me helping him and other times he will do himself. We also have him help clean up his mess from eating too.
I spent about a week cleaning out all cupboards and closets and getting rid of anything that we didn't use all the time. I then got a label maker and labeled where everything goes, including where each pot or container in the kitchen goes. Now there is zero excuse for other house hold members to not put things exactly where they belong.
After I did the big clear out, I hired a cleaner to come all day to deep clean and do all the laundry. It was expensive but it was worth it because it got all the jobs done in one day which allows us to easily stay on top if things now.
The trick is not letting anything build up and because of this our daily schedule is:
Laundry: one wash per day, hang to dry or use tumble dryer and put away later in the day.
Floors: Sweep dining area and kitchen after each meal (toddler "helps") and turn on robot vacuum.
Dishes: My husband and I switch off dishes duty each day. Dish washer gets unloaded in the morning and then dishes through the day go right in and it gets run at night. We batch cook twice per week and this significantly cuts down on dishes and cleaning the kitchen through the week.
Counters: Wipe down kitchen counters, hob etc. after each meal/cooking. Wipe down bathroom counters at the end of each day.
Toys: Toddler picks up his toys before nap and before bed
Bathroom: Everyone is responsible for keeping toilets clean, I will not clean up after someone else (excluding toddler) and leaving a toilet gross is completely unreasonable. The shower and bath are cleaned every Monday. Also on Monday, all bedding changed and floors hovered (instead of using robot) and mopped.
As for cleaning glass and dusting, I tend to just do this whenever I am cleaning counters so dust never builds up.
The reality, is that if you want to live in a tidy clean house it does take effort from everyone on daily basis to keep it that way.