English - Hear x Listen

To hear is a verb that means to receive or become aware of a sound using your ears, so you don’t have to make an effort in order to just hear something.

Ex.: She heard a noise over there.

To listen is a verb that means to give attention to someone or something in order to hear them, so you make an effort in order to hear something properly.

Ex.: She listened to the noise and realized it was only a cat.

In some circumstances we use hear when we listen to someone or something attentively or officially.

Ex.: I heard an interesting speech on the radio this morning.

       These people need to be heard.

In general we use hear for public performances and listen for non-public performances.

Ex.: We went to hear President’s speech last night.

       I heard Madonna singing at the concert.

       Do you listen to the radio in your car?

       Have you listened to that recording I have sent you?

Source: Google