You can use top or ps commands to check the CPU usage.
using top : This will show you the cpu stats
top -b -n 1 |grep ^Cpu
using ps: This will show you the % cpu usage for each process.
ps -eo pcpu,pid,user,args | sort -r -k1 | less
Also, you can write a small script in bash or perl to read /proc/stat and calculate the CPU usage.