I still pretty much do everything around the house even though I work full-time. My husband is home days with the kids, works evenings and is in school part-time, so most of the time when I'm home I'm alone with them. I think I would be frustrated if he did some of the cleaning because it wouldn't be what I would want, but we do share cooking duties, he does laundry some of the time, and watches the kids when I'm losing my mind on a Saturday. I let him sleep late on Saturdays since it is his only day home that he doesn't have to work or watch kids alone.
I get frustrated with cleaning up after everyone and sometimes lose it (which is pretty nasty) but try to remember that I'm the only one who cares about a lot of those things. My husband doesn't really notice anything other than "picking up," but it is not that he doesn't care, just that he doesn't "see" things like a dirty carpet or kitchen floor. I think that men are more likely to help us indulge than to help us with practical things sometimes. I know mine doesn't mind watching the kids so I can go nap but he does really dislike if I ask him to do something like fold laundry while I do the dishes. I have never had the option to stay home but I like to think that if I did I would not mind the house and kid stuff as much as I do when I'm working full-time, so my ideas are just that:
Try to calm down your evening routine. Do the obnoxious stuff before he gets home and keep your evenings as calm as possible.
Do not ask for help WHEN you need it. Let him know in a quiet and calm moment that you need him to do one or two things, but you want to make sure they are things he can fit in (or something to that effect). My husband hates picking up and vacuuming, but he is much more efficient than I am at it. If I ask ahead of time, he is good about it, but if I just say (when he is relaxing) "hey, can you do this for me?" it does not work out.
See if he is better about doing something, even if it is just supervising the kids for a half an hour, so you can do something for you (a bubble bath, a walk, etc.). Men like to relax after they've worked hard and (again, my husband here) do not understand why women do not seem to sit down, especially at the end of the day. I have tried telling my husband that I could sit down and relax, but the dishes will still be there when I stand back up. :)
I also know from working different kinds of jobs (but again, never a SAHM) that is is NOT a good idea to compare jobs at all--my husband works in a group home with developmentally disabled adults, so if I'm tired from work or the kids, he would be tired from being beaten up with a telephone and having to bathe and shave adult men and change their diapers. You have to get back to the fact that whatever you both do during the work day is work and no amount of comparing is fair. You are both tired, you have both been stressed, you both need to see how you can make each other's evenings more relaxing and enjoyable. If something is not important to your husband, there is little point in getting upset with him for not doing it.