。
She invited us to her birthday party.
Literal
She [topic-は] birth-party [to-に] us [object-を] called.
誕生パーティー is a casual abbreviation of 誕生日パーティー ('birthday party') — Japanese routinely clips familiar compounds in conversation, especially loanword-bearing ones (スマホ for スマートフォン, コンビニ for コンビニエンスストア). The verb 呼ぶ ('call') here means 'invite' when paired with に (destination); 呼ぶ also means 'call out to / summon' depending on context, so to disambiguate 'invite' more explicitly Japanese has 招待する.