FT WOH with no housekeeper and no plans to get one.
-Our house is really, really small - so although I bitch about it, cleaning it doesn't actually take that long.
-I tend to do one room or one activity at a time... think "mop kitchen floor" not "clean kitchen" or "mop ALL floors." I do as much as possible in 30 second sprints while DD is blessedly entertained by something else. You can accomplish a lot while your 3YO attempts to get stickers off the sticker sheet
-I clean the full bathroom (except for the tub) while DD is IN the tub. Then I clean the tub while I shower.
-We only have carpet in the bedrooms and DH is willing to vacuum those, when left a very specific to-do note. He actually does a really good job.
-clutter is the thing that drives me nuts, and it is just not allowed to happen. Periodically I sweep through the house and toss everything of DH's that doesn't belong, into a big bin and sit it at his side of the bed. I pick up the flotsam and jetsam of daily life every minute, it's practically a nervous habit. Mail does not come in the house unless it needs to be opened. The mail is picked up and sorted, and mostly recycled, before I put my key in the door

this helps a lot.
-DD's toys are picked up nightly, in the living room at least. She is very good about cleaning up one activity (say, painting) before moving on (to dolls or such). So at the end of the night there's usually just one or two or twelve kinds of crap spread all over, which she helps to clean up before bedtime.
It's totally doable, and while I KNOW my standards could be higher, my house is neither a pigsty nor a health hazard.