Formal:
* Comment s'est passée votre journée? (This is the most formal and polite way to ask.)
Informal:
* Comment était ta journée? (This is more casual and friendly.)
* Comment ça va aujourd'hui? (This literally means "How are you today?" but can also be used to ask about someone's day.)
* Et toi, comment ça a été ta journée? (This is a more relaxed way to ask, implying you've already talked about your own day.)
Other options:
* C'était comment ta journée? (This is a very informal and colloquial way to ask.)
* Alors, comment ça s'est passé aujourd'hui? (This is a bit more conversational.)
The best option will depend on your relationship with the person you're speaking to.