This might be what you are looking for. Open the Messaging app and select Menu > Settings. Scroll down and select Delivery Reports. I tried it out on my Droid Maxx and after checking the box and rebooting my phone all of my texts now have a little envelope symbol with a check mark. I guess you still would not know if it has been "Read" but this lets you know that the recipient received it. Hope that's close to what you are looking for.