The Spanish word for to listen is
escuchar

Spanish Definition

listen
1. Escuchar.

escuchar
1. v. to listen to, to hear out
¿Has escuchado su último disco? - Have you listened to her latest record?
2. v. to listen
Cállate y escucha. - Be quiet and listen.
3. v. (Latin America, informal) to hear
Claudia trabajaba en su oficina cuando escuchó el staccato de chasquidos secos: pá-pá-pá. - Claudia was working in her office when she heard the staccato of dry clicks: bang-bang-bang.

oír
1. v. to hear
¡Oiga, por favor! - Hear, please!
2. v. to hear (passively perceive a sound)
Oí ruidos extraños viniendo desde detrás de la puerta y tuve miedo. - I heard strange noises coming from behind the door and got scared.
3. v. to listen to (actively pay attention to a sound or a person speaking)
Cada mañana oigo el canto de los pájaros. - Every morning I listen to the singing of the birds.
4. v. to heed; to listen to