Gravity readings are the only way to know for sure. If there is still krausen on top it's still at its most active fermentation stage. When it first drops, I hear that fermentation is about 70% completed. Usually this drop happens for me on day 4-5, with day 3 being the most intense. Anyway, even after the froth (krausen) is gone, it's still got a little bit more to go.
In my experience with US-05, fermentation is done by 10 days, though I usually end up racking at day 13-14 just to be on the safer side, though I probably could have done it on day 10. Better safe than sorry though especially since I bottle and don't want any explosions