here is mine:
daily
wake and make the bed, straighten up the bedroom, gather dirty clothes and put them in to wash, and then make breakfast.
after breakfast, i clean up the dishes, straighten up the whole house, and then start on the daily chore.
after that, when the wash is done, i dry it, and then put it away when it is dry; and i do the dishes throughout the day as needed; and at the end of the day (before bed), i pick up toys and straighten up the house.
so, pretty much after 9 am, it's just maintaining--straightening up as we go along, finishing up the load of laundry as we go. nothing more taxing than what takes 10-15 minutes at a time.
weekly
i have three big chores: 1. scrubbing the bathroom; 2. scrubbing the kitchen; and 3 dusting/vacuuming the whole house. we live in a small space; there are only three of us.
i scrub the bathroom on tuesday, kitchen on wednesday, and dust/vacuum on friday. my son helps along side (he's 20 months).
Big chores, though, can be divided. For example, your eldest can do the dishes and clean up the kitchen while you scrub the bathroom with the little ones, and your second oldest can vacuum 1/2 the house. then, on kitchen scrubbing day, the eldest can vacuum half the house while the second eldest does the dishes and the little ones help you scrub the kitchen.
folding laundry is something that everyone can help with, as well s putting their clothes away. tidying up before bedtime (putting away toys, crafting supplies, etc) is also something everyone can do.
use a rhythm
i cannot stress enough how much a rhythm helps me.
from the steiner/waldorf perspective, the idea is that you have an time for everything. thre are times of activity and rest. times of work and play. times of preparation and times of celebration. by creating a rhythm, everyone knows that their needs and expectations will be met.
the rhythm of work (cleaning up the house, etc) is helpful because i get the work done, but my son is also happy while i do it. he knows that that time will be for the chore, and that after that time, we will have play time. and then there reading/story time and then rest (nap time). then another play time, then another quiet time, then meals, then more play, then tidy up, get ready for bed, and another quiet time before sleep. his needs get met, and he's happy to go along the rhythm.
there are threads on it in the waldorf forum, even for larger families. just creating a rhythm to your day creates a sense of order and peace. everything gets done.

and, i find that i have more time for play and relaxation than i did before i used a rhythm!