Formal:
* Comment s'est passée votre journée ? (This is the most formal and polite way to ask.)
Informal:
* Comment était ta journée ? (This is a casual way to ask, used with friends or family.)
* C'était comment, ta journée ? (This is a more informal way to ask, used with friends or family.)
* Comment ça a été aujourd'hui ? (This is a more general way to ask, not as formal as the first option but still polite.)
You can also say:
* Qu'est-ce que tu as fait aujourd'hui ? (What did you do today?)
* Tu as passé une bonne journée ? (Did you have a good day?)
The best way to choose the right phrase depends on the person you are speaking to and the context of the conversation.