Formal:
* J'aime ma petite amie. (This is the most literal translation and quite formal.)
Informal:
* J'aime ma copine. (This is the most common and informal way to say it.)
* Je l'aime. (This means "I love her," and is very romantic.)
More affectionate:
* Je t'aime. (This is the most intimate way to say "I love you" and is used for your significant other.)
To make it even more specific:
* J'aime beaucoup ma petite amie. (I love my girlfriend very much.)
* Je suis amoureux de ma petite amie. (I am in love with my girlfriend.)
Ultimately, the best way to say it depends on your relationship with your girlfriend and the context of the situation.