Have you considered going down the "we need to talk" route? That usually scares the bejesus out of them!
Just as your DH is leaving the house to go to work, you say "we need to talk, can we sit down tonight after the kids have gone to bed?" refuse to go into any more detail and leave him to stew on that all day.
When you finally do get to sit down with him, say calmly "we can't go on like this" and then pause for as long as you can manage.
He'll probably start asking questions but you need to look him in the eye and explain "if you moved out and lived on your own you would have to do ALL your own cooking, cleaning, washing, ironing, your half of the childcare, food shopping, school pick ups, homework helping DIY, gardening, kid baths and bedtime, dog walking (add in every job you do). Our marriage and partnership gives you the opportunity to live here with your family who loves you and do only half of that, which I think is a pretty good deal. If you don't think the same, there's the door. I won't be discussing this again, you either change the way you behave and stop treating me like your servant, or you can leave and I will have one less person to pick up after."
If he's a decent guy who is committed to your marriage he'll probably be so pleased that you are just p-ed off about housework that he'll happily pitch in, and if you see him slacking in future a big sigh and some muttering about packing a bag for him should gee him up.
Problem is you can only do this once, and you you need to mean what you say, but if you're at the end of your tether it's worth considering.