How dare you? is grammatically correct. It can be used in both a serious and humorous situation depending on the tone you use.

There are two examples : "How dare you go behind my back and talk to my boss without telling me." "How do you dare do that? Aren't you afraid you'll burn your hand?" Source: https://english.stackexchange.com/questions/69844/how-dare-you-vs-how-do-you-dare

Yes, use how dare you.