Which question in is past simple tense grammatically correct?
Who called you?
or
Who did call you?
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Who did call you?
did call is past emphatic. It is used to emphasize the action of calling. This sentence is interrogative and the subject is not known; therefore, emphasis seems out of place. The verb form would be correct, however, if written as an emphatic statement:
He did call you.
In the other provided sentence,
Who called you?
the tense, past, works with the interrogative nature of the sentence. This sentence is valid.
The first option is correct because this instance is conveying a single, completed action. While I don't think the second sentence is incorrect grammatically, it wouldn't be regularly used in normal conversation.