In Spanish, you would say ‘¿Me llamaste?’
This phrase is composed of the verb ‘llamar,’ which means ‘to call.’ The ‘me’ refers to ‘me,’ making it clear that you are asking if the person called you. The word ‘llamaste’ is the second person singular (tú) form of the preterite tense, meaning ‘you called.’ So when you put it together, it directly translates to ‘Did you call me?’