There are a few options in this case.
How many doors do you need to control? MyQ is a valid option and they sell upgrade kits for your existing garage door opener if you don't want to upgrade that. I hear the client software is a bit wonky (works sometimes), but I have not personally used it. Read the android or iphone reviews for any solution that you choose.
If you have three doors and need to control all of them, it may be easier to go with something like gogogate.
If you want all of this to be eventually incorporated into your home automation (It will happen to all homes within 10 years is my guess), you may want to look into solutions that are zwave compatible.
The other fun option is to build a raspberry pi with a few relays on it to control the garage door.