There is a duly approved prayer given, in English, as an example in the Manual of Indulgences [Enchiridion Indulgentiarum] (1999) published by USCCB, with partial indulgence:
Angel of God, my guardian dear, to whom his love entrusts me here, enlighten and guard, rule and guide me. Amen.
Here is a Latin version:
Ángele Dei, qui custos es mei, me, tibi commíssum pietáte supérna, illúmina, custódi, rege et gubérna. Amen.
Pope John Paul II recommended the prayer (of Pope Leo XIII, 1896) to St. Michael in Regina Coeli April 24, 1994, which some say after the Rosary:
Saint Michael the Archangel, defend us in battle. Be our protection against the wickedness and snares of the devil. May God rebuke him, we humbly pray; and do thou, O Prince of the heavenly host, by the divine power of God, cast into hell Satan, and all evil spirits who wander now throughout your world seeking the ruin of souls.
Also September 29th is the Feast of Saint Michael, Saint Gabriel, and Saint Raphael
Guardian Angels Memorial is October 2nd
Angels are mentioned in the Bible:
Raphael (Tobit Chapter 12)
Gabriel (Daniel 8:16; 9:21; Luke 1:19, 26) and Michael (Daniel 10:13, 21; 12:1; Jude 1:9; Rev 12:7).