Staying at home is actually making a valuable contribution to society. You are parenting children - one of the hardest and most underrated jobs in the world.
In actual fact you are fulfilling many different careers:
Cleaner
Cook
Childminder
Teacher
Nurse
Unfortunately as kim147 rightly states, many of us now have to pay other people to take on the role of childminder whilst we find paid work but whilst still fulfilling the roles of cleaner, cook, teacher and nurse in our spare time. Not to mention mediator, counsellor, gardener, etc.
I think you'll find that even if you went out to work the criticism would still be there. You'd still get people asking if you don't miss your children, if you don't feel guilty for not being with them. They question the hours you work and why in fact you do work, when your children obviously need you at home.
As a woman, you cannot win. Pathetic rags like the Daily Mail only exacerbate this attitude and I'm sure that if you did a quick search you'd find plenty of contrasting articles which mock and deride both working women and those who choose to stay at home.
If you rely on the Daily Mail to make you feel better about your life then something has gone seriously wrong.