There are many ways to express this in French. I don't know if there is one that sticks out as being the most commonly used one. A native speaker would have to chime in here (Amélie?).
"Aviez-vous passé une bonne journée ?"
"Comment était votre journée ?" -- How was your day?
"Tout s'est bien passé aujourd'hui ?" -- Did everything go well today?
These are some that come to mind.
-- Chris (not a native speaker)