I have an iPhone. Is there a way for me to see if the message I sent to an Android phone was received/read?

I have an iPhone. Is there a way for me to see if the message I sent to an Android phone was received/read?

Yes. Four ways.

Option 1: Call the person to whom the text message was sent and ask them.

Option 2: Send the person to whom the text message was sent and ask them.

Option 3: Walk up to the person to whom the text message was sent and ask them.

Option 4: Ask the person if you can look at their phone to see if they received it.

The reason you can't see on your iPhone in iMessage is the message was received/read is because when you sent the message:
1) The message gets to a server maintained by Apple. The server learns the destination phone is not using iMessage.
2) The server converts the message to a format the Android phone can deal with and forwards that message to an SMS server maintained by your cellphone service provider.
3) The SMS server maintained by your cellphone service provider searches for your phone, finds it and sends the message to your phone.

In the above process, the communication path where your phone acknowledges receiving the message back to your cell service provider's server, then that server talking to the Apple server, then the Apple server sending the receipt message to your phone does not exist… It may, one day, if the entire call flow turns into an MMS process rather than an SMS process, but what are you willing to pay for that?

If you mean through standard text messaging, no. That's not how it works, even with iPhone to iPhone messages. Don't confuse iMessage for SMS. IMessage would allow what you want in the case of iPhone to iPhone messages.

For Android to iOS or vice versa you'd need an instant message app like WhatsApp.