There is no easy built-in way of doing this (surprisingly!). You'll want to read in the entire file, then do a string replacement, and then convert the result into numbers.
% Read file in as a series of strings
fid = fopen('data.txt', 'rb');
strings = textscan(fid, '%s', 'Delimiter', '');
fclose(fid);
% Replace all commas with decimal points
decimal_strings = regexprep(strings{1}, ',', '.');
% Convert to doubles and join all rows together
data = cellfun(@str2num, decimal_strings, 'uni', 0);
data = cat(1, data{:});