Summary of Question Structure

Simple Past Questions

To make a question, we change the position of 'was / were' and the subject.

'Yes / No' Questions with 'Be'

was I sleepy?
were you late?
was he at the cinema?

And the 'wh' questions with 'be' (the question word just goes at the beginning,
everything else is the same):
'Wh' Questions with 'Be'
why was I sleepy?
where were you?
when was he at the cinema?

Simple Past Questions with auxiliary

Just put 'did' before the subject, and the infinitive after it.

'Yes / No' Questions

did I walk?
did you play?
did he cook?

To make a 'wh' question, of course, put the question word at the beginning of the
sentence:

'Wh' Questions
where did I go?
what did you play?
what did he cook?

Taken from: The Past Simple (or Simple Past) Tense (perfect-english-grammar.com)
Present Perfect Questions

To make a question, put 'have' or 'has' in front of the subject:

'Yes / No' Questions

have I missed the bus?
have you visited London?
has he worked as a waiter before?

For 'wh' questions, we just put the question word before 'have' or 'has':
'Wh' Questions
where have I left my umbrella?
what have you done today?
why has he gone already?

Taken from: The Past Simple (or Simple Past) Tense (perfect-english-grammar.com)