I just make sure we have something simple for dinner - meat and veg, salad, stir fry most of which can be prepared in advance. Things that go in the oven are great (think chicken Kiev, lasagne) as you can cook them while bathing the kids or cleaning up.
We get home at 5:30 and kids are in bed by 6:30. It's a mad rush but well worth it, they are exhausted by then.