It depends which message app you are using. If you are using Google's Messages press and hold the message until it is highlighted, then go to the 3-dot menu in the corner and select "view details". Something similar works on many, but not all, other message apps.
If your message app doesn't have this, you could install a different one. You don't have to make it your default, it can still read your messages without that, so you can just use it to check this information (all SMS apps use the same system message database - they are all just user interfaces for that, even your built-in one).