I experience this same thing. I wake up right after a dream, but don't want to make the effort of writing it down, or am too tired to move.

Unfortunately, lucid dreaming takes practice and willpower, so you must sacrifice a little to make progress. So I roll over, and blindly scribble down a few keywords, then go fall back to sleep. In the morning, these keywords are all that's needed to jump start my memory. i may not remember all the small details, but I get the general jist of the dream. And sometimes I'll remember more details as I'm recording the full dream in my journal.

So do whatever works for you, but at least make an effort and try to write down a few words at night and see if your recall improves.