We have a very strict/regular evening routine. Kids eat dinner at 5, which is when they're starving and need to eat. They're allowed to watch some tv until 6:30; baths & teeth-brushing 6:30-7, then they're in bed every night by 7. We read a story, then lay with them until ds is asleep (dd often falls asleep by then too, esp if she hasn't napped, but is ok with us leaving while she's still awake). dh and I eat dinner after they're in bed. It's not ideal, and eventually I'm planning to institute family dinnertime, but honestly for the moment I enjoy eating a peaceful grownup dinner (at a reasonable hour!), being able to eat what we want without kid complaints, and having some quality time with dh to watch tv or hang out after they're in bed. Whichever of us is not doing bedtime cooks dinner and cleans the kitchen.
They're usually up by 7 at the latest, though sometimes dd sleeps a bit later.