Formal:
* Elle est assez petite. (This is the most literal translation and is perfectly correct.)
* Elle est plutôt petite. (This emphasizes that she is smaller than average.)
Informal:
* Elle est petite. (This is a simple and direct way to say it.)
* Elle est toute petite. (This emphasizes that she is very small.)
* Elle est minuscule. (This means she is tiny.)
You could also use phrases like:
* Elle est petite de taille. (She is small in stature.)
* Elle a une petite taille. (She has a small size.)
The best choice depends on the context and your desired level of formality.