If you don't have a table with a list of dates in it, you can simulate one with something like the following query:
select * from 
(select adddate('1970-01-01',t4.i*10000 + t3.i*1000 + t2.i*100 + t1.i*10 + t0.i) calendar_date from
 (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t0,
 (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t1,
 (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t2,
 (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t3,
 (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t4) v
where calendar_date between ? /*start of date range*/ and ? /*end of date range*/
- so Dems' query could become:
SELECT
  calendar.calendar_date,
  COUNT(*)
FROM
  (select * from 
    (select adddate('1970-01-01',t4.i*10000 + t3.i*1000 + t2.i*100 + t1.i*10 + t0.i) calendar_date from
     (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t0,
     (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t1,
     (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t2,
     (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t3,
     (select 0 i union select 1 union select 2 union select 3 union select 4 union select 5 union select 6 union select 7 union select 8 union select 9) t4) v
   WHERE calendar_date >= '01 Jan 2012'
     AND calendar_date <  '04 Jan 2012'
  ) calendar
LEFT JOIN
  yourData
    ON  yourData.timeStamp >= calendar.calendar_date
    AND yourData.timeStamp <  calendar.calendar_date + 1