To check the login histories of all the users in Salesforce, go to Setup –> Administer –> Manage Users –> Login History.

SOQL:

SELECT Id, LoginTime, UserId 
FROM LoginHistory 
WHERE LoginTime > 2021-06-23T16:05:00Z 
AND LoginTime < 2021-06-24T16:05:00Z

SOQL with User Details:

SELECT Id, Name, Username 
FROM User 
WHERE Id IN ( 
SELECT UserId 
FROM LoginHistory 
WHERE LoginTime > 2021-06-23T16:05:00Z 
AND LoginTime < 2021-06-24T16:05:00Z )