Modelling
General
V → select
C → comment
Shift + C → hide/show comments
Q → rotate
M → move/copy
T → measure
Ctrl/Command + C → copy
Ctrl/Command + V → paste
Ctrl/Command + Shift + V → paste in place
Ctrl/Command + G → group
Shift + Ctrl/Command + G → ungroup
Design
R → rectangle
O → ellipse
L → line
A → arc
P → push/pull
F → offset (only available while creating or editing a sketch)
Boards
V → select
H → hand tool (pan)
S → Sheet
R → rectangle
O → ellipse
P → pen
Shift + P → pencil
C → comment
Shift + C → hide/show comments
Ctrl/Command + C → copy
Ctrl/Command + V → paste
Ctrl/Command + G → group
Shift + Ctrl/Command + G → ungroup