Craig Keener offers up a good, practical, non-technical commentary on Matthew in volume one of the IVP New Testament Commentary Series. The commentary itself is a modest 402 pages which means that Keener doesn't cover as much as he could, or as much as the reader would like.
Keener is known for his extensive knowledge of primary sources and he again draws liberally from them in formulating some of his interpretations. This is obviously good for more technical commentaries but for a practical commentary like this, Keener gives more details than necessary and seems like he goes fairly light on exegesis at times. That said, the commentary is extremely practical and insightful.
If you need a good, pastoral, non-technical commentary that still delivers quite a punch, go ahead, do yourself a favor, and pick up Matthew by Craig Keener (part of the IVP series...not his massive Socio-Rhetorical commentary from Eerdmans).
*According to FTC regulations, I would like to thank IVP for providing me with a free review copy of this book in exchange for an unbiased review*