Formal:
* Comment s'est passée votre journée? (How did your day go?)
* Comment avez-vous passé votre journée? (How did you spend your day?)
Informal:
* Comment ça va ? (How are you?) This is a common greeting and can be used to ask about someone's day.
* Et toi, comment était ta journée ? (And you, how was your day?)
* Alors, comment s'est passée ta journée ? (So, how was your day?)
You can also add a bit of nuance depending on the situation:
* "Comment était ton travail aujourd'hui ?" (How was your work today?)
* "Tu as passé une bonne journée à l'école ?" (Did you have a good day at school?)
The best way to choose which phrase to use depends on the person you're talking to and the context of the conversation.