You're right that static stretching isn't horrible; it's just not that helpful for strength or power activities. Even if it doesn't necessarily decrease strength in a given circumstance, it also doesn't increase it like dynamic stretching does. Remember that movement-based flexibility exercises count as a continuation of the warmup, and as long as you don't deplete energy stores too badly during the warmup, more is better all the way from 5 minutes up to about a half hour. (Benefits drop off after roughly the half-hour mark in most circumstances as the sympathetic adaptation is already firmly in place, and all you'd be doing at that point is burning glycogen.)
There are two main phases of a good dynamic stretch routine. The first is general, where you're targeting whichever large kinetic chains need flexibility work across the body. This is usually done aerobically, roughly 8-12 reps and roughly 1-2 sets for each side of the body, always alternating in the case of multiple sets, and starting with the tighter/weaker side first. Here's a good introductory routine:
http://greatist.com/...dynamic-warm-upNext, and this part is very important, is movement-specific dynamic stretches. This basically means that you're practicing a few sets of the actual motion you'd be using, e.g. deadlift, BUT:
More quickly, and
With a greater range of motion, and
With very light weights only.
In fact, for many core and lower body exercises you could start with bodyweight. I personally warm up for squats by doing a few increased-ROM sets of bodyweight and then dumbbell squats. I'm talking ass to the grass and pop right back up. This is not only a great flexibility and strength warmup for the posterior KC, but it's also a great way to practice lifting technique. I still have to remind myself not to let my knees bow in or my lower back round, and it's a lot easier to keep those sorts of technical errors under control if I've first practiced without any challenging weight.
Of course, you may need no practice on technique, in which case you can devote your attention to the flexibility aspect of the routine.