My best tip? Go out! LOL.
I struggle with keeping things clean, too. Like Keely said, one of our problems is that the family's schedule varies too much from one day to the next to really have a daily routine. I feel like kitchen chores (cooking, dealing with dishes, cleaning the floor under the table, lunch packing, etc.) and laundry take up so much of every day that there isn't time for real cleaning. Lately DH and my oldest DS (ie, the only 2 in the house capable of being more help than hindrance when it comes to cleaning) have been busy with Little League so I've been stuck home with the 2 mess makers who aren't very capable at cleaning up after themselves yet.
One things that helps a little is that as a family we have a 15 minute clean up every night. The kids clean up any toys that are out, clothes that didn't make it into the laundry basket, and anything else that they've messed up.
We do best when we take a weekend day every few weeks and all do it together. The kids clean their rooms with some adult assistance as needed, and DH and I switch off being on kid-duty and doing a cleaning or organizing project. Then during the week I can maintain it and focus on the never-ending kitchen and laundry chores. I'm sure our house would be cleaner if I did it in the evening, but I refuse. After the kids go to sleep is my break for the day, and if the house suffers so be it.
ETA: How could I forget to mention my real best tip? I listen to audiobooks or Kindle Text to Speech while I deal with house chores. I used to procrastinate all forms of cleaning, but when I have a good book to listen to I hardly mind spending an hour folding laundry or whatever.