Join between different frequency tables
Here is a solution that uses CROSS APPLY to find the value for the latest quarter that ends on or before the daily date. If your table is indexed by (ID, Date), this query will be quite efficient with a one-row seek to look up the quarterly value for each daily date.

This solution also does not require a calendar table and makes no assumption about the duration of a quarter. However, it does make an assumption that you have no gaps in your quarterly table. For example, if you were missing a year's worth of quarters, the solution would identify the "most recent quarter" as the quarter that happened a year ago. This may be perfectly fine, but you should at least be aware of the assumption.

CREATE TABLE #DailyTable (ID INT, DailyTableDate DATE, Value INT)
CREATE TABLE #QuarterlyTable (ID INT, QuarterlyTableDate DATE, Value INT)
ALTER TABLE #QuarterlyTable ADD UNIQUE CLUSTERED (ID, QuarterlyTableDate)

INSERT INTO #DailyTable (ID, DailyTableDate, VALUE) VALUES (1,'2010-01-01',10)
INSERT INTO #DailyTable (ID, DailyTableDate, VALUE) VALUES (1,'2010-02-01',15)
INSERT INTO #DailyTable (ID, DailyTableDate, VALUE) VALUES (1,'2010-03-01',20)
INSERT INTO #DailyTable (ID, DailyTableDate, VALUE) VALUES (1,'2010-04-01',30)

INSERT INTO #QuarterlyTable (ID, QuarterlyTableDate, VALUE) VALUES (1,'2010-01-01',1000)
INSERT INTO #QuarterlyTable (ID, QuarterlyTableDate, VALUE) VALUES (1,'2010-04-01',2000)

SELECT d.ID,
    d.DailyTableDate AS Result_Date,
    d.Value,
    qt.Value AS Most_Recent_Quarterly_Values
FROM #DailyTable AS d
CROSS APPLY (
    -- Find the value for latest quarter that ended on or before the daily date
    SELECT TOP 1 q.Value
    FROM #QuarterlyTable q
    WHERE q.ID = d.ID
        AND q.QuarterlyTableDate &lt;= d.DailyTableDate
    ORDER BY q.QuarterlyTableDate DESC
) qt