Your Apple Pencil does not have any lights or indicators that can show you your current battery level. So if you want to check how much battery you have left then you will need to use a widget on your iPad Pro..
According to Apple, the Pencil has a lifespan of around 12 hours. And if the battery ever runs out, you can connect it to your iPad Pro's Lightning port for 30 more minutes of use, just for 15 seconds of charging.
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To see the widgets on your iPad Pro, open Today view. You can do this by swiping your screen from the top to the bottom to see all the notifications received, then end up swiping to the right; you can also swipe your screen to the right until you get to the last page on the left; you also have the option to do this swipe right from the lock screen..
If you don't see the "Batteries" widget listed, then drag it all down until you see the "Edit" option.
Look for the “Batteries” option in the “MORE WIDGETS” section and tap the button towards “+” to add it back to Today's view list..
Use the slider to the right of the "Batteries" widget to change its position in the list and place it in the row you prefer. For example, you can put the “Battery” widget in the first place so that you can find it more easily.
Press the "OK" button when you are finished making changes.
You will now see a “Batteries” widget showing the remaining power level of your iPad Pro, Apple Pencil, and other accessories that are connected to your iOS device - like your AirPods for example. When you want to check the remaining battery of your Apple Pencil, just go to the Today view.