My housemate wanted to workout one day so I took her down to the spare room in our basement and we did a "bootcamp". She
did have a set of dumbbells but you could definitely manage without them. We got a great workout and burned about 450 calories (according to HRM) in 40-45 minutes.
This is what I suggest, depending on how long you want your workout to be. Pick a few circuits. Repeat them twice. Move onto another circuit. All body weight stuff. Try and do the bigger muscle groups first if you can (like back and chest, quads, glutes, etc.) then the smaller ones (triceps, biceps, shoulders). Put an upper body move, a lower body move, and a cardio move into each circuit.
Soooo...I think ours went something like this. We probably did about 5 circuits total:
1. Squats - 12 body weight, hold the last one for 15 seconds; 15 push ups (knees, toes, on an incline, whatever you can do); jumping jacks for 30 seconds. Repeat.
2. Lunges - 12 on each leg, backwards, forwards, static, whatever you do; plank (however long you can hold it); jump rope for 30 seconds.
The idea is just to not stop moving. Keep your heart rate up, really push it on the cardio intervals and don't take a break until you're between circuits.
I hope this sorta helps