A big part of it is having the kids help. I generally assign 3 chores each in the morning and 3 each in the afternoon. Mornings they are responsible for cleaning their bathroom (not a deep cleaning, but a pretty darn good one, because otherwise they leave toothpaste and toilet paper all over) and they each have a kitchen job (put away dishes, wipe counters, sweep) before leaving for school. When they get home, they have a list of 3 things to do, and those things change daily, but are often things like clean bedroom, dust entertainment center, get mail. Pick up living room, pick up yard, bring recycling bin in from road, Ya know, easy stuff (my kids are 11, 9 and 6). By the way, I did that even when I was a stay at home mom.
I usually keep a monthly list of all the big deep cleaning jobs that need to be done, and I just do that as I notice something that bothers me. For instance, right now we are opening a lot of windows as the weather warms up, so I am noticing the blinds and windows all need a cleaning. It is too much to clean them all at once, so I break it down by week. So this weekend, my deep cleaning jobs were to clean 3 windows and blinds, wash and vacuum out my car, clean my bathroom, weed the yard, and delegate the mowing and trimming to someone else.
With the other general maintenance, I usually make my bed in the morning, laundry I do a batch before work and then everyone puts their own away when I get home, I will wipe down the other 2 bathrooms with clorox wipes daily, I generally clean up after dinner (dishes, counters, put away food, wipe out microwave, sweep); take out the trash daily, gather up dirty laundry daily. Saturdays we all pitch in to vacuum and mop.