Casual trick taking penalties for illegal plays
Generally when I play games like that and a miss play is caught before the next trick is played then the play is corrected.  However if it is caught later then the player that messed up losses the hand. In hearts for example they would take all 26 points and everyone else would get 0. In a game where you want points they take the penalty for not getting the minimum bid or whatever they bid. This seems to be a quick and fair way to handle miss plays that you can't correct.

It may sound harsh but following suit in a card game should be a very simple strategy. 

Only other option is to throw out the hand and redo it.