Three compound exercises. Twenty reps per exercise. Repeat three to five times depending how dead you want to be at the end. (Do the same number of sets for each exercise.) Rest as little as possible.
I suggest timing yourself to see how long it takes to complete the workout. Aim to complete it a bit faster the next time you do the workout.
3-5 sets per exercise:
1) 20x full burpee (with a push-up at the bottom and a jump at the top)
2) 20x squat & press (with barbell or dumbbells – keep weight moderate so you can finish all the reps)
3) 20x dead lift row (with barbell or dumbbells-again moderate weight so you can finish)