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 I'm levelling up an exotic armour the experience can be useful but that doesn't happen much these days. Occasionally I need the resources and despite the fact I could probably farm more in the time it takes to complete the mission I still do it. Or if it is the third story mission as it only takes two minutes.