There are two ways to say "I miss you" in Spanish that are the most common. Which one you will hear more depends whether you are in Spain or Latin America.
The most common way to say "I miss you" in Latin America uses the verb extrañar:
I miss you.
Te extraño.
teh ehks-trahn-yoh.
The most common way to say "I miss you" in Spain uses the verb echar:
I miss you.
Te echo de menos.
teh eh-choh deh meh-nohs.
Here are two more ways to say it that aren't as common as the above phrases:
I miss you. / I need you.
Me haces falta.
meh ah-sehs fahl-tah.
The literal translation of the above phrase doesn't translate very well to English. It uses the word falta which means "lack." It translates more to "I need you" but it is commonly used to say "I miss you" and means basically the same thing.
Here is another way to say "I miss you":
I miss you. / I long for you.
Te añoro.
teh ahn-yoh-roh.
The above phrase is not very common but says "I miss you" with a little more flair. It's like saying "I long for you."
I'll mention a couple mistakes to watch out for.
Remember if you are talking about “missing” a bus or plane because you did not make it on time use the verb perder instead of the above verbs:
I missed the plane because I woke up late.
Perdí el avión porque yo me desperté tarde.
Pehr-DEE ehl ah-vee-OHN pohr-keh meh dehs-pehr-TEH tahr-deh.
If you want to say you “missed out” on some event like a party or soccer game you can use the reflexive version of perder which is perderse:
I missed out on the party.
Me perdí la fiesta.
Meh pehr-DEE lah fee-esh-tah.