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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.
Another way to check tread depth is to look at the treadwear indicator bar that's molded into your tires. The bars are located at the bottom of the tread grooves in several locations around the tire. When these bars become visibly flush with the adjacent ribs the tire has no more than 2/32 of tread remaining.