That is, if it wasn't revealed to you in the first place. We see only a few instances of prophesying throughout the books, notably, when Trelawney prophesied to Dumbledore about Harry and Voldemort, and to Harry about Wormtail rejoining Voldemort. (Side note, is it just me or does Trelawney have a thing for Voldemort?)
We know that when the crystal sphere housing the prophecy smashes, the prophecy is retold. We also know that the prophecy can be recalled through memory, especially with the aid of a Penseive.
Short of smashing the glass orbs, how does one hear a prophecy?
Somehow I don't think smashing them is the only way, as that would destroy the thing altogether.