The walk-out, called by the RMT and TSSA unions, is a protest against the loss of 950 jobs and a plan to close all manned ticket offices.
Many stations and bus routes experienced overcrowding, with the RMT accusing Transport for London of putting customers at serious risk.
By the evening, TfL said a third of normal services were runnning on nine out of 11 lines, with 70 per cent of stations open.
An increased service is operating on the Central line this morning, with services between Marble Arch and Epping, and Hainault via Newbury Park every seven minutes.
Victoria line trains are operating between Brixton and Seven Sisters every five minutes.
The Overground is operating a good service, however slow moving traffic is already being reported on major routes in and out of London.
Services are expected to return to normal by Friday morning.
TfL say, the closures, which they expect will save £50m a year, are due to only three per cent of journeys utilising a ticket office due to passengers using ticket machines or online services rather than buying tickets face-to-face.
Unions have said they will take part in talks tomorrow aimed at resolving the dispute before another 48-hour strike begins on Tuesday