If this is for an industrial project you are probably better off using an opto-isolator to do your conversion. It provides several benefits.
- Current loop on input side is impervious to common mode noise.
- Isolated grounding gets rid of loops and different ground level issues.
- Galvanic isolation provides protection to both sides.
- And of course, the level shifting you asked for in the first place :)
![schematic](https://cdn.statically.io/img/i.sstatic.net/VXR7z.png)
simulate this circuit – Schematic created using CircuitLab
\$R1\$ should be chosen to establish the appropriate current in the LED at your 24V sensor level.
The size of \$R2\$ will depend on the logic family you are passing this signal to AND the frequency of the sense signal. For CMOS 10K will be sufficiently low, Standard TTL will need a much lower value.