M.G.
I'm sorry to hear your husband is so critical of you. That sucks. I used to have a laid back approach to cleaning my house as well;) and the only thing that helped me was I moved into a house that was just too beautiful to let get messy. I'm not saying you should move, obviously, but I think it's strange that's what it took for me to care about my home's appearance. These are things that helped me manage my house....
Your 7 and 5 year old are old enough to have some cleaning responsibilities, like cleaning their rooms, and making their beds. When anyone gets out of the shower, their clothes should go straight to the laundry room or in a designated basket. Dishes go straight into the dishwasher after eating from them, and the dishwasher should be ran nightly. Clean the kitchen as you cook. This is so important, and as you make a habit of it, it's just second nature to constantly keep it tidy.
Your husband can help you on the weekends!!!! If he doesn't like the mess, he can help eliminate it. Maybe you both can go through the whole house together, get it completely clean, and then both do small things daily to keep it tidy. I find it is easy to do a quick sweep through the house when the kids leave for school in the morning, I spend about 5 minutes in each room and it really helps.
Write down a weekly chore chart. Vacuum every 3 days, mop the laminate and kitchen floors every 3 days, do laundry every 3 days and clean the bathrooms every three days. Obviously not all those things on the same day, alternate days and you will have time for yourself still without feeling like you clean all day.
I hope you find this helpful, and if you have any other questions, feel free to ask!!!