Git update submodules recursively

git submodule update --recursive

You will also probably want to use the --init option which will make it initialize any uninitialized submodules:

git submodule update --init --recursive

Note: in some older versions of Git, if you use the --init option, already-initialized submodules may not be updated. In that case, you should also run the command without --init option.

The way I use is:

git submodule update --init --recursive
git submodule foreach --recursive git fetch
git submodule foreach git merge origin master