If everything is dry and wouldn't otherwise need to be repacked, I take my time to clean and properly roll/stuff everything. This way it is ready to go the next time I grab it off the shelf. On an average I'd say about half an hour to break camp.
Probably 1/2 hour or so depending on how long we've stayed there... If constantly moving I'll only break out the essentials for camp. If we plan on staying awhile I'll empty everything to get my day pack light as possible. In that case it'll probably take me an extra 10-15 minutes to get camp ready to roll.