The battery indicator icon in the upper-right corner of the screen shows battery charging status and about how much charge is left in the battery. When connected to a power source, a small lightning icon will appear next to the battery icon:

If the battery charge is very low, the device may display a black screen with an empty battery icon, indicating that the battery needs to charge for up to ten minutes before you can use the device. If the battery is extremely low on power, the device may display a black screen for up to two minutes before one of the low-battery images appears; continue to charge the unit for at least 30 minutes or until it is fully charged.
Yes I already saw this article before and this doesn't help ansewering my question. For iOS 6 and earlier, there would be a lightning icon in the battery when it's charging. If it's charged then there would be a plugged-in icon in the battery. However, the lightnight icon besides the battery in iOS 7 stays the same all the time as long as it's plugged into the charger. So I have no idea when does it finishes its charging, as it doesn't even show battery percentage like iPhone does.