There's no automatic way, because different colours and materials react to the different lighting differently, and you would need to account for the way you use the colours. In addition, you'd want all of the times to still work compositionally and have adequate contrast, etc. You'd need to create at two palettes (night, day, and ideally also dawn/dusk because it looks weird without them) by hand and blend between them to create the gradual transitions.
You could shift all the hues towards blue, saturate them, and darken them, but this'll give you a much worse result than doing it by hand.