My boys (just turned two) also definitely thrive on routine (as do I, to be honest). It really helps them to know what's coming next (as evidenced by little freak-outs when things turn out differently-- the downside of this approach, I guess). Here's our typical routine on days when we're home together (they go to a home-based Waldorf playschool 3 days a week while I work at home, so things are obviously different on those days) Most all of the times are approximate-- the order is predictable but actual time frames vary. This was our routine for quite a while, though the morning is currently a bit in flux.
6:30 wake-up (whenever they wake up-- it used to be 5:30, so we're pretty pleased that it's finally after 6am ;-)
drink milk on mom and dad's bed while mom gets ready and dad makes breakfast
7ish everyone eat breakfast together
7:30 wrestle the boys into clothes before their dad leaves for work at 8 (this used to be a really easy part of our routine, but has become a HUGE struggle over the past month or two.
8:30: go to school if it's a school day, if not take a wagon ride or stroller ride and then play in backyard for a while.
10-15ish: come inside for morning snack, play inside for a while; potty
12: lunch; potty; head to bedroom to wind down for nap (sleep sacks, books, etc.)
1-3 nap time
3:00 snack, then play outside or run errands or go to park for playdate
5:30 come inside, make dinner
6:30 eat dinner when dad comes home
go to bedroom, get pajamas, milk, books, kisses
Not very exciting, but it works for us. On weekends, we tend to do more outings and things (when I have my husband around to help), so things get a bit out of wack, but even then there is some routine-- we try to preserve the nap (although we often do end up having one day with naps in the car on teh way back from the zoo, etc.)
Anyway, not sure if this helps, but good luck :-)