"Outlining for Writers Who Don't Outline," by J.S. Morin

Here's a great blog by J.S. Morin, author of Twinborn Trilogy (Firehurler, Aethersmith, and Sourcethief).  He lists very simple steps for outlining when you don't want to spend time outlining (I'm guilty of this):

Outlining For Writers Who Don't Outline
For me, part of the writing process is the sense of unexpected discovery.  But there's much to be said about having a direction.  Typically I have to have the first and last scenes planned, and some major key points along the way.

Another technique I've found helpful is to outline the draft that I have -- laying out the episodes so I can catch redundancies and dead-fall.  By working on the progression of events, I can ultimately streamline the final story.