I agree with iAre Teh... jesus, I'm having to repress my inner Grammar Nazi. Anyway, I agree with them for myself - but I know notes have helped a lot of my friends, and you may feel they help you better too. If you feel you have to take notes, there's a few things you can try.
Firstly, remember that notes only have to be legible by you. Scrawl, doodle little pictures to help, draw arrows, whatever makes it easier and more intuitive. As long as they're neat enough for you to make sense of later (even if you copy them up more neatly afterwards), they serve their purpose.
If that isn't working and you feel the need to take notes still, you can try learning shorthand. It's a very useful skill and will make taking notes much easier and faster.