I get your issue a little bit - my Mom is our babysitter and she gives the kids whatever they want unless I specifically say, "Don't do this." Like giving dessert after EVERY meal. I appreciate her help, and I let a lot go, but when I see it interfereing with the way the kids behave with me (i.e., whining for sweets 20 times per day), I step in.
I guess I am confused because you can't possibly have not noticed your own child's behavior in 11 years?? I suppose you mean that YOU let a lot go, and now you are wanting to fix it? Good - and it is not too late to start instilling some responsibility in your child.
Tell her your expectations, write them down (maybe as a "contract") and do a daily check of the behavior. Communicating the expectations and consequences are key here if you have never held her to any standard before now. You can't punish her for your own failure to follow through before. If she doesn't do as is expected, she needs to have consequences of lost priviledges or lost toys, etc. Once she knows the rules, you will have to support her, remind her, and react as is called for. It wouldn't be bad to clear up this notion that it was okay for Grandma to do her work for her and the notion that you won't pay attention and even apologize for this diservice.
My kids always put their own toys away and helped to pick up their own rooms from before the age of 1 - of course with guidance and me doing most of it, but they didn't realy know that!! At 2, they started doing things like helping make lunch and feeding the cat. At 3-5 they started getting jobs, like putting the laundry in the washer, unloading the clean dishes from the dishwasher, dusting, etc. Now that I have a six year old, I expect her to do her jobs without directly being asked.and with minimal reminders. I also expect her to "pitch in" when asked without backtalk or whining even if it is "not her job."