It's hard to boil down Daily Vespers, because you need to have the Menaion and Octoechos texts for the stichera at "Lord, I Call" and the Aposticha, and then also the Festal Menaion (separate text from the daily one, at least in English) and the Triodia (Lenten and Flowery) for Lent and Paschatide. It's actually not THAT difficult to get down, but it's hard to explain. Easier to show. Of course, this also requires knowing the tones, which in itself is quite a task.
Matins is even harder because it is longer and contains more variable parts (and itself has more variety in the way it can be served. Sunday Matins and Festal Matins change the service significantly from it's daily counterpart, much more than Great Vespers does its daily counterpart).
However, the services of Nocturns (or Midnight Office), Prime, Terse, Sext, Typika, None and Compline are all pretty straight forward. The Midnight Office mixes it up a little bit on the weekends (both Saturday and Sunday Nocturns are different from the rest and the week, and each other), but that's really about it.
The hours (1st, 3rd, 6th and 9th) only require the main hymns (troparia and kontakia) for that day. Many sites (like the sites for the OCA or the GOAA) will give the hymn of the saints for the day along with their hagiography. If you can't access these, there are also troparia and kontakia for each day of the week which can be found in many private prayer books.
Typika may be served in place of the Liturgy, and is pretty straight-forward, as well. The Midnight Office and Compline are actually the inspiration for the Morning Prayers and Evening Prayers in the Russian tradition. I understand it's still pretty standard for Orthodox faithful to serve Midnight Office and Compline as their daily prayers.
Even if Vespers and Matins are too much to do, these other six services are rich in theology, prayer and psalmody, and I think make a very comprehensive rule of prayer for any devout Christian!