Who did you have dinner with yesterday?正确
Who have you dinner with yesterday?不正确
第2句,这样:Who had you dinner with yesterday?说有语法错误,应改为：
Who did you have dinner with yesterday?
陈述句变为疑问句时实意动词（have）前应加助动词do的相应形式（do does did）,动词还原成原形.
如I went to shcool by bike yesterday.
How did you go to school yesterday?