With so many answers already written, Here's my take.
With Angular 1.5.6 & ui-bootstrap 1.3.3 , just add this on the model & you are done.
ng-model-options="{timezone: 'UTC'}"
Note: Use this only if you are concerned about the date being 1 day behind & not bothered with extra time of T00:00:00.000Z
Updated Plunkr Here :