As LolaBelle mention it depends on the browser.
Here are instruction for a few most comment browsers.
In IE: Click the Favorites (star) icon in the top right corner. Click the History tab, from the drop down select View By Date, select Today.
In Chrome: Click on the Setting (wrench) icon in the top right corner. Selecting History. History is split by dates, most recent at the top.
Use the shortcut "Ctrl+Shift+H" ("Cmd+Shift+H" on a Mac). In the left pane select History, and choose Today.