I second claude_debussy: scales, arpeggios, and octaves.
Ideally, it would take you around an hour to do all of these in many kinds of combinations. In my case, I do this first thing in the morning but since I can only spend 30 mins for warm up due to work, I vary them everyday (rhythm, speed, touch, etc.). Something like this:
Mon: Very slow playing (for tone devt), hands separate and then hands together, portamento, 2 octaves
Tue: Hands together at an octave, 4 octaves, asc, desc, contrary, legato
Wed: Hands together at a third, 4 octaves, asc, desc, contrary, staccato
Thur: Hands together at a tenth, 4 octaves, asc, desc, contrary, leggierro. broken octaves
etc...
I only do chromatic, major, harmonic minor, triads, dom 7ths, dim 7th. For octaves, I try to incorporate the octave passages of Saint-Saens #2, 1st movement since I've been meaning to learn it anyway.
And yes, this daily routine has improved my technic and stamina a lot. If one can play this well for at least an hour a day, one will have the stamina and endurance for certain large works like Beethoven sonatas or even some concertos. At least that's the logic my pianist coach goes by and indeed, I'm feeling the benefits.
Good luck!