For TOS, there is none.
For TNG up, it's 4sxxx.x, with "s" being the season number (and as we get into later years of DS9 and Voyager, you carry the 1 to get 5(s-10)xxx.x) and xxx.x increasing throughout the year. It's mentioned that the year is 2364 in "Neutral Zone", the final episode of TNG's first season, so you can work it out from there.
People screwing around with math will then say "But wait! That means Stardate 0 was in 2322 or 2323, but TOS takes place in the 23rd century!" These people need other hobbies, because they're never going to find a reasonable explanation.