See the map here: https://www.backtonormandy.org/from-d-day-to-paris/3662-d-day-june-6th-1944.html

Shortly after midnight the 82nd and 101st Airborne Divisions jumped into Normandy to secure bridgeheads and beach exits in advance of the main amphibious attack.

Beginning at 0630 the 1st and 29th Infantry Divisions stormed ashore at Omaha Beach against fierce resistance.
Beginning at 0700 the 4th Infantry Division overwhelmed less effective opposition securing Utah Beach, in part because of disruption the airborne landings had caused.
By day’s end the Americans were securely ashore at Utah and Commonwealth Forces at Gold, Juno and Sword Beaches.
The hold on Omaha Beach was less secure, as fighting continued on through the night of 6-7 June.