Formal:
* Bonjour, comment a été votre journée ? (Good morning/afternoon/evening, how was your day?)
* Comment allez-vous aujourd'hui ? (How are you today?)
Informal:
* Salut, comment s'est passée ta journée ? (Hi, how was your day?)
* Ça va ? Comment s'est passée ta journée ? (How are you? How was your day?)
* Comment était ta journée ? (How was your day?)
You can also use "Bonjour" or "Salut" without the question about the day, just to greet the person and start a conversation.
The best way to choose the right expression is to consider your relationship with the person you're talking to.