It all started with a simple morning chart for my daughter when she first turned 3. Mornings were awful. We'd be in pjs until forever and be racing out the door late for playdates. I grabbed some poster board and drew pictures for what I wanted us to do in the morning before we get to do the fun stuff like adventures and outings and things.
1) Sit on the potty (we were potty training then)
2) Make the bed
3) Have breakfast
4) Get dressed
5) Brush teeth and comb hair.
DD then got to decorate the chart and hang it in her room. Things got easier. She was excited to do the things on the chart. I could blame the chart when she didn't want to do something. DD: "I don't want to sit on potty!" Me: "Sorry. It's not up to me. The chart says we have to do it." (I am so warping my kid.)

Then she asked for a nighttime chart which has been a HUGE help when we have babysitters or when the not ususal bedtime parent is doing bedtime.

We aren't super strict about following the chart anymore. There's never been stickers/check marks when things get done. It is more a reminder now of what we need to accomplish.

As for cleaning-type routines, I'm not so hot on those, but I have found the day-of-the-week/chore thing to be helpful - you know wash day Monday, etc. For me it is
Monday - catch up on laundry (I try to do a little everyday, but I always fall behind)
Tuesday - library day - return or renew things plus it is storytime day
Wednesday - bill paying day
Thursday - market day and clean the upstairs
Friday - clean the downstair
Saturday - catch up (There is usually some chore that I meant to do that didn't happen)
Sunday - rest (But usually it is an extra catch up day)