You need to use the glxgears program is a port of the "gears" demo to GLX. It displays a set of rotating gears and prints out the frame rate at regular intervals. It has become quite popular as basic benchmarking tool.
Open a terminal and type the following command:
$ glxgears
Above is a result from my Quadro FX 570/PCI/SSE2. FPS rate < 1000 means you either lack 3D acceleration support or driver is not loaded.
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