How to tell if your brake pads need changing
The short answer
The clearest signs are a squeal when you brake, a thin sliver of pad you can see through the wheel, and the car taking longer to stop. If that squeal turns into a grinding or scraping metal sound, the pads are gone and you're into the discs, so get it looked at straight away. Most pads last somewhere around 25,000 to 40,000 miles, but town driving and heavy loads wear them faster.
Pads are a wear part, so they don't fail overnight. The car usually gives you a few weeks of warning if you know what to listen and watch for, and catching it early keeps it a cheap pad change rather than a pricier pads-and-discs job.

Common causes and what they mean
A few things could be behind it. Here's what each usually points to, and how serious it is.
A squeal when you brake
Most pads have a small metal tab that scrapes the disc on purpose once the pad gets low. That high squeal when you press the brake is it doing its job and telling you a change is due soon.
A grinding or scraping sound
A harsh metal-on-metal grind means the pad material is gone and the metal backing is now cutting into the disc. Stop driving on it and get it checked, because it's damaging the discs every time you brake.
You can see the pad is thin
Look through the spokes at the pad pressing against the shiny disc. New pads are around 10 to 12mm of material. Once it's down to about 3mm, or a thin sliver, it's time to book them in.
The car takes longer to stop
If you're pressing the pedal harder or leaving more room than you used to, worn pads may not be biting like they should. Longer stopping distances are a sign to get the brakes checked without delay.
A brake warning light or the car pulling
Some cars have an electronic pad-wear sensor that puts a warning light on the dash when the pads get low, so don't ignore it. A red brake warning light is more serious and can mean low brake fluid or a fault, so get that checked straight away. If the car also tugs to one side when you brake, one side may be wearing faster or a caliper may be sticking, which needs looking at too.
Can I still drive with worn brake pads?
If the pads are just squealing and the car still stops well, it's not an emergency, but book them in soon rather than leave it. If you hear grinding or scraping, feel the pedal go soft or long, or the car pulls to one side when you brake, stop driving far and get it checked, because worn-through pads cut into the discs and stretch out your stopping distance.
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