Past Tense:
* Were (plural)
* Used to be
* Existed
* Occurred
* Happened
* Took place
Past Participle:
* Been
* Had
Formal/Literary:
* Did exist
* Had existed
* Once was
Informal:
* Used to
* Once upon a time
For specific situations:
* Died (if referring to death)
* Left (if referring to departure)
* Finished (if referring to completion)
To choose the best synonym, consider the sentence you're writing and what nuance you want to emphasize.