Are you kids really little? If they are under two, I wouldn't expect much help. If they are older, I expect some level of help.
My kids are 8, 4, 3, and 15 months (and in less than a week, a newborn!). My oldest two empty the dishwasher. One does the top, one does the bottom. My 3 year old puts the silverware away. My kids are all short and too little reach cabinets up high, so we rearranged our kitchen so all the main dishes are in the bottom cabinets. Makes it easier for them.
All three clear off the table. They also spray it down and clean it with paper towels and cleaners. My oldest will sweep. They sometimes also wipe down the counters.
With laundry, all three help with that too. They will toss laundry in the washer, and my oldest will put soap in it and run it. They did two loads today (I have a huge prego belly and feel like an invalid these days! So they've been helping). They will carry finished loads to the couch to be folded...including my 15 month old. My oldest will help fold laundry. They all take stacks of clothes and put them away, three year old included. When I wash a load of kitchen towels/rags, all three will fold those and put them away.
They help clean the front room, playroom, and craft table. They are learning to vacuum. They help dust and clean off windows.
So...yes, my kids help:-) I would be cleaning all the time if they didn't help! I think it's a great thing for them to learn. I try to keep it fun for them. Usually they are happy to do it. Sometimes, not so much. But I LITERALLY need their help right now. They do great. And usually they have a great attitude about it unless it's cleaning the playroom. They don't like that so much.
I'll turn on "cleaning music" which is really just upbeat fun music that we all like. Not little kid music:-) I really try hard to be encouraging and try to associate positive attitudes with cleaning. I want them to remember that and not feel negative about it. But I imagine as they age, they'll get more negative:-)
HOpe that helps! I think you should definitely have them help.
Oh, and I totally forgot...allowance. No, we don't do allowance right now. We need to start with our oldest. We've put a lot of thought into allowance and how we want it to work. We don't think they should be paid for being a member of the family and doing normal chores. Nor do we think they should be paid just because they should get an allowance. We kind of want it to mimic real life. You need to work in order to get money. And there are normal things expected of you that you get no pay for.
SO...our solution has been to not pay our kids anything for contributing to the family - no pay for the normal jobs. But if they want some money for something, we have special jobs, above and beyond normal jobs, that they can choose to do. We can hire them to do the work, and they will get paid a set amount per job. They can do as many of them as they want to get paid. I think it teaches that working for money is what is needed...as well as teaching that there are normal things you do when you're in a family that you don't get paid for.
We were thinking when our kids turn 8, they can start earning money (I guess technically it's not allowance, it's hiring them)...what they get paid depends on how much effort and work they put into doing our "hired jobs". Guess we should start with the 8 yr old! We might lower the age that they can do it, if one of them really wants to.
I think it's very important to teach them how to not only manage their money and use it wisely...but to also teach them to EARN their money;-)
Hope that helps!