I was personally shocked to learn that Android was missing this feature since even iOS has this ability now. Thank goodness for third-party apps! Handcent has been really fun to use with an unbelievable level of customization for SMS. :biggrin:
If you download a third party messaging app like go SMS or handcent from the market they have the option to do so. I believe SMS pop up also does if you still want to use the stock messaging app.
Sent from my Galaxy Nexus using Cyan Tapatalk