There is no way to do this with traditional SMS messaging. With google hangouts, you can tell based on where the pictures of the other people in the conversation are (the location corresponds to what they have seen)
In my stock Messaging app, there's a Delivery reports checkbox in its Settings menu that says "Request a deliver report for each message you send".
I'm guessing that doesn't necessarily mean that the receiver read it but that it was just successfully delivered to the device--close but not exactly the same.
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