For a class with powerpoint slides:
Print out a copy of the slides and take notes on the slides as you go along. Record the lecture simultaneously and then after the lecture, listen to the recording again, fill in details that you missed. If you want to/have time to, you can write out the information in a notebook in a format that is understandable to you (I did this for a few classes where the slides were crappy)
For a class without powerpoint slides:
Create a "scratch notebook" for each class, and during the lecture, jot down a few key points/questions/etc. Record the lecture, and focus the majority of your time on listening to the professor. After the lecture, go through your scratch notes and the recording to write out a "clean" set of notes in a separate notebook. Backup recording for both formats is recommended.
Does this sound intense? Maybe. But it works, and its thorough, and if you religiously do this for your classes, there's no reason you can't do well.