Both are. The difference is, who would be likely to use which?
Have you got any kids? - very chatty, very informal
Do you have any children ? semi-formal
Have you any children ? What a matronly grand dame might ask of a young wife at a high-class cocktail party...and how the Queen would phrase the question! or - or someone asking you that question as they fill in a form with your details and they want to be brief.