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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If the daily is a shorter mission and it allows me to knock out bounties while completing it, for example Hive majors/ultras, 9000 xp without dying, 100 kills without dying, and the mission is The World's Grave, I'll do it just so I can knock out everything at once. Otherwise I skip it and either run a roc strike/patrol/choose a specific mission for a target bounty. I certainly don't do them for materials anymore.