Whatever format you decide on (and it might be different for different lectures) the general principles are the same:
• Use your own words.
• Be concise.
• Use abbreviations, phrases and key words, not sentences.
• Date and reference notes clearly.
• Number pages and points.
• Use headings and subheadings.
• List details.
• Use boxes, underlining, colour coding, CAPITALS and highlighting.
• Use arrows to show links between sections.
• Use diagrams and drawings.
• Leave a margin and plenty of space between sections.
• Use a well-spaced layout.