What works for me is seeing chores as an extension of my workday. Once I'm done with them, I get my reward: sitting down and chilling out. Because for me, when I sit down after a long work day, I don't feel like getting up again. (This is also why I get all my exercise done in the early morning, but that's a different subject.)
Anyway, basically the take-away is that you should do stuff when you still have some momentum.
Some tips and tricks
Buy stuff that makes your life easier.
For dusting, I got a retractable reusable dusting brush from amazon for under $10. Dust clings to it and you can use it in hard to reach places in your house. Made my life a lot easier.
If you haven't already, get a quality vacuum cleaner. One with a long cord. I personally prefer canister vacuum cleaners because they're much easier to move around than the standard ones.
I also got a spray mop with a refillable bottle, something like this. You just fill it with whatever cleaning solution you have and you don't have to worry anymore about sopping wet floors and carrying buckets around.
These three things save me a ton of time and frustration.
As for the chores themselves, here's what I do for efficiency:
Load the washer (and the dishwasher, if you have one) first and start them. While those are doing their thing, clean up your kitchen, tidy up some stuff, do some light dusting. If you have some energy left, grab the vacuum cleaner. Then when the washers are done, hang your clothes/put your dishes away.
Get into the habit of cleaning up after yourself immediately. I don't have a dishwasher so I do my dishes after I cook and after I eat my dinner immediately. I re-use glasses instead of grabbing new ones for the same thing.