My DD is not quite a toddler yet (1 year old tomorrow, woo hoo!!) but I can tell you what I do. I have to get a lot of exercise to control my blood sugar, and it's hard with a baby. So here is what I do:
--Every day, no matter how hot or cold or rainy or whatever, we go for a walk (or a bike ride--we recently got a bike seat for her that goes on the front of my bike). Usually she is in the carrier because she likes it (extra workout for me!) rather than the stroller, but whatever. When she can walk, I'm thinking she'll walk as far as she wants and then I'll carry her the rest of the way. We try to go for at least 30 minutes, often a lot longer. Or we go twice. Walks are great because we get out and about (not bored at home), and either we have a destination (like a park or farmer's market or store) or we just wander around and see what we can see. DD loves seeing dogs and cats and flags on houses and people walking and cars going by. It's a great way to pass time and it may not feel like much exercise, but even just 30 minutes a day really adds up.
--I try to do something "outside"-y with DD at least twice a day. So on cold days we usually go for two walks. On hot days we might go for a bike ride in the morning and a swim in the afternoon (or whatever). Heck, any little bit helps, and she loves to be doing stuff out and about. She'd be outside doing stuff all day except for naps and eating if we could.
--My DH knows that the number one thing I want him to help me with is that on weekend mornings, I want to work out for 30 minutes. Each weekend day right after breakfast I go and do the stationary bike for 30 minutes. Having a set time makes it easier--we picked a time when DD is usually pretty happy and DH is still lounging around so he's not champing at the bit wanting to get out of the house and do something. And mornings it's easier to motivate myself to work out than evenings, and then I get to feel good all day.
--My mother comes to visit once a week or so and I almost always ask her if she'll play with the baby while I work out for 30 minutes.
--Each day when the baby naps (she is a very bad sleeper, sadly) I do some pushups and ab exercises.
--Eventually I plan to get a stationary bike of my own, because I like it. (Can read while doing it so it doesn't hurt so much!)
--My dream is to find another stay-at-home mom friend who wants to trade babysitting/workout time with me, so we can each work out for 20 minutes or so while the other watches both babies. But I have yet to find such a dream friend. :)
--I have made a resolution that if a day occurs in which I get no exercise--it's rare but sometimes happens when we have a lot of company, or somebody's sick--I will not beat myself up about it. That helps a lot too.
I think you should stop worrying about whether you're getting a "really solid workout" and just do stuff. Lots of outdoor stuff. Your kid will like it, and it can't but help you! And then if you can get your DH to take the kiddo while you do your exercise DVD twice a week, that's great too. But please don't beat yourself up because you're not getting a "solid workout". You can get a lot of exercise without being super hardcore about it.