The old fashion way. Disconnect the battery and clean it. Then put it on a "smart" charger for at least 24 hours or until the charger has completed its cycle. Let the battery rest for about an hour and then check the voltage. It should be between 12.0V and 13.0V, higher is better.
Buy a cheap battery load tester from HF. Connect it to the battery but only for about 10-30 seconds. The meter on the tester will give you an approximate idea of your battery health, but you should also have your volt meter hooked up. If it drops below 11.0V in that short period, your battery is definitely near the end of its life. When the load tester is removed, the battery should return to about the same voltage before the test.