Each of our kids has four daily chores, which rotate weekly. There's a morning chore, an after lunch chore, a zone (one room to tidy up), and an after dinner chore. They rotate weekly.
Morning chores:
Trash from one level of the house
Unload dishwasher
Clean up one particular counter in our kitchen that tends to accumulate stuff
Start a load of laundry (and there's a schedule for that)
Clean off the play/school room table
After lunch chores:
Clear island
Wipe down island
Wipe down table
Load dishwasher
Move laundry
Zones: just various shared areas in the house (family room, entry way and library, etc)
After dinner chores:
Wiping down island
Wiping down the stove
Wiping down the table
Handwash dishes
Sweeping/vacuuming the floor around the kitchen table
Clearing the table after dinner
In addition, they're responsible for tidying up their bedrooms, clearing their dishes, putting away their laundry, and probably some others that I'm forgetting. They each have one day per week where they help DW prepare dinner (including setting the table), and all of them from 7y.o. and up can make their own lunch.
We started chores at age 3. At that age, you're basically doing it for them, but we ask them to do more and more of it independently as they get older. By age 7, they're capable (if not always eager) of doing any of those chores on their own.