You can make an attempt to bleach lightly darker tooth. It can take a combination of endodontic treatment and internal or external bleaching. Sometimes the result is very good, and sometimes not. It is the most conservative first step. If that doesn't work then covering with an artificial material like porcelain veneer would be a solution. So it is up to you if you want to go more conservative or more aggressive.
Depending upon the degree of trauma, you possibly will require endodontic treatment if the pulp in the root canal is not vital anymore. It can be evaluated with simple test by the dentist. External bleaching techniques can significantly improve the color of stained and traumatized teeth. Internal bleaching should be used very carefully due to high concentrated amount of active ingredient and possible high degree of complications. In cases when the bleaching procedures are not extremely effective the esthetic results can be improved with porcelain restorations.