Pre the DLC, I would make sure I did the daily in an attempt to get Ascendent Material to level up my armor and weapons. Post DLC there's really no point to do the daily missions especially if your weapons are already maxed out and you have the new Raid Armor. I haven't done a daily in a while and the only time I do is when one of my friends is doing it, but I just usually join for the conversation
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I'm still after energy now and again and it's a good way to kill time waiting on my meals cooking in the oven. If it's a post DLC mission though I sometimes skip it though as they can be a bit more time consuming.