I hear you! I love the dinner-shaking-up suggestion already described. I have always done little things to vary the routines. When I have to drive to the store or anywhere else, I try to take different routes. I might go to a different grocery store, even in a different part of town. I love playing different kinds of music at home while I work! If I usually clean bathrooms in the mornings and vacuum in the afternoons, I'll switch the jobs. (The bathrooms and the rugs don't care.) If I have a huge load of ironing and some work to do on the computer, I'll set the timer for 15 minutes and alternate those jobs until they're done.
Get some fresh air every day, somehow!
I used to take "book breaks," but that doesn't work for me; if the book is really good, all of a sudden it's four o'clock and I haven't done anything else!
If you can get your children in on this, they could have fun (you don't mention how old they are). Instead of their making their own beds, let them make yours.
Try a camping-out day where everything is done on the floor (of the forest, of course), and supper is campfire style, cooked in the fireplace if you have one, or at least served on whatever sort of plates you use outdoors. What about a pioneer day? (You take it from there.)
Take a play day (or a play half-day) for yourself, once a week if possible, when there's nothing on your to-do list and you can choose what you want to fill up that time.
Most of all - I'm getting serious here - every morning when you wake up, say to yourself, "I'm so thankful that I have my family, and that I GET (not HAVE) to stay home and take care of them!" Some Mamas would much prefer SAHM "tedium" to juggling paying work and family care. But you already know that. :^)