We feed our girls twice a day. But it really depends on the size of the dog and their activity. Typically its 2% - 3% of body weight, for Adults.
For puppies they ideally should be fed between 8-10% and again that depends on age, between 3-4 times a day and again that depends on age.  It's always good to adjust the amounts if they are becoming a skinny mini add a little more but if they are a chunky monkey reduce the amount gradually.