I also work full time and have 6 month old daughter. I know what you mean about being exhausted by the time you get home! Our evening routine goes like this:
We get home, I unpack her daycare bag while she plays with some toys nearby. I put her in her exersaucer while I go change out of my work clothes. Then I prepare her dinner (usually some cereal and a fruit or veggie). Feed her, then feed me. By this time, its time for a bath, then read her a book, give her a bottle, and to bed she goes. She is in bed no later than 8:30 pm. I then will go into the kitchen and clean whatever mess I made and will then make the formula for the next day and also puree whatever food she will eat at daycare the next day. (I make her babyfood. Though, I do give her the store bought stuff when I have an extremely busy day and cannot make her food.)
On the weekends (my days off) I will make extra meals for her and for us and freeze them. This really helps on those busy days when you don't have the time or energy to actually cook food.
I make the formula the night before so I don't have so many things to do in the morning. I will also throw in a load of laundry before bed and then toss it in the dryer before I leave for work. And sometime before I go to bed I will fold it and put it away.
My big advice is to just do what you can here and there. And don't stress if everything does not get done.
Hope this helps you!