I keep a small spiral bound notebook (a little smaller than a 3x5 card) in the glove box. When I perform a maintenance or repair I enter the miles and date on the top line and then the information about what was done on however many lines are needed. On the next entry, I leave one or two blank lines.
An oil change entry would look something like this:
3/30/06 215,118 miles
Oil and Oil filter change Mobil 1 5W30 M/C FL820S filter
Tire rotation
An annual service may look something like this:
7/18/06 225,245 miles
Oil and Oil filter change Pennzoil Plat 5W30 Per 1 filter
Tire rotation
Coolant change Havoline Dexcool
Brake fluid flush Valvoline Synpower DOT 4
Once I got past warranty, I stopped saving the receipts for oil and filter, but I have receipts for most everything else.