I've had a good experience with Cleaning Authority. I just cancelled them, but it was because of $$ and not because I was displeased with the service. They are very organized about how they do things, and have an alternating system of areas that get deep cleaning and more surface level cleaning.
I had the advantage of being home when they were here, so I could keep an eye on things. (I work 30 hours a week and home school my kids, but I still felt guilty watching other people clean my house...even though I was very productively occupied doing schoolwork with the kids while they were here!) We had the same two ladies for about six months, and got to know and love them. They're moving out of state (they're related to each other) so that made it easier for me to cancel the service.
And I'm one who spends several hours "cleaning" before they get here. It takes me that long to get everything picked up and the surfaces clear enough that they can clean them. They've told me about other clients whose houses are so messy that it makes it nearly impossible for them to really clean. Knowing that "the cleaners are coming!" was great motivation to keep stuff under control. Somehow we're going to have to do it all ourselves now. I'm planning on going to the janitorial supply store to get some decent equipment to make it easier. For instance, the cleaners had a huge Sh-mop, which is much more efficient for cleaning wood and tile floors than my teeny Swiffer.