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Use a tread depth indicator or gauge. You can use a special tread depth indicator or gauge tool to measure your tire's tread. If you don't already own one, the gauge is cheap to purchase from an auto parts dealer and it's easy to use. You may be able to find a downloadable tread depth gauge by searching online.
You can make sure that the tread on your existing tires is safe by checking it at least once a month when you check your tires' air pressure. Start by culling out the riskiest rubber. Look for bald tires by checking whether any of the wear bars are flush with the tread's outer surface. Another way to check whether your vehicle's tires have reached their wear limit is to insert a penny into each groove, Lincoln's head down, as shown below. Replace the tire if the top of Abe's head becomes uncovered by any of the grooves.