I agree, see if you can get a cleaner even once every fortnight is enough to keep the house looking ok.
But I also I suggest you have a (calm, relaxed, non-nagging) word with your DH regarding the tasks, can you maybe agree to split or share them?
As in, "now that we're both working full time we need to think about how we're going to keep the house looking presentable without eating in to all of our precious free time..."
You may find that you each have preferred tasks that fit quite well together.
For instance, I do all of the cooking, DH does all the laundry, but we each put away our own clothes when clean and we both clear the dishes into the dishwasher after eating.
We usually shop together after work (I hate supermarkets) and we also usually do the big washing up together (that is the stuff that doesn't go in the dishwasher)with a glass of wine on a Sunday evening - which actually makes it quite fun together time if you see what I mean and of course it's nice to start the work week with a clean kitchen. He washes, I dry and put away and I usually wipe down the kitchen surfaces at the same time.
I do the vacuuming but he sorts out all the bins and the recycling etc and we both give the bathroom a quick swipe through the week to keep on top of it.
It takes a bit of practice and you do both need to agree on it rather than feel nagged about it, otherwise it doesn't work. We kind of evolved into this pattern after some similar discussions when I felt I was spending all my free time cleaning and cooking. It probably helps if you have a similar idea about what a common level of tidiness/cleanliness is (DH is very housetrained - probably more than I am actually), so maybe you can agree on that first. Then if he still isn't helping, the use of humour can be a marvellous prod. DH is actually quite proud of the fact he does all the washing now and will often say (in jest) that he doesn't trust me with it anymore!
Also, I say thank you a lot to DH for helping out with stuff and he always thanks me for cooking and lets me know he appreciates the food etc.
It makes us both feel appreciated and I guess it's a common courtesy really that is often forgotten in a relationship when it's just something you have to do.
It's also true that it's easier to "train" behaviours with rewards than punishments, though of course people are rather more complex animals than dogs say...
HTH