5V to 3V3 - Sensor for Arduino 3V3
That's the standard way to do it but you might consider lowering your resistors so that the net effective impedance seen by the Arduino's ADC input is only a few kohm. Maybe use 5k1 and 10 kohm. You'll find in the data sheet that the ATMEGA328 chip likes to have a source impedance not greater than 10 kohm.

You might also consider adding a capacitor across the (now) 10 kohm resistor to offer some anti alias filtering. If you can manage 100 nF that would be a good default choice but it depends on the bandwidth of the signals you wish to convert.