As said, you can use a voltmeter to get a reading that correlates to state of charge with acceptable accuracy. You really need to use a digital voltmeter though for this test. Watch your Sunday paper for coupons to Harbour Freight. They often give away a digital voltmeter free with any purchase. It may not be the best meter, but it is good enough and the price can't be beat.
Another option as stated is to use a hydrometer to check the electrolyte in the battery cells. You can buy an inexpensive hydrometer at any auto supply store.