Can't orgasm with penetration.

I've been having some issues when it comes to sex. It's hard for me to orgasm. My partner & I have been together 5 years & ive had issues with this from the start with my exes too. I can't orgasm unless.. oral sex, masturbate or he gets me off with his hand. I'm lubricated enough & do enough playing around before we get in to it but still can't. It's frustrating because I don't end up in the mood n sometimes have to fake it. Sex is less enjoyable for me. Any advice?