Short answer: look at the whole dog. A relaxed, loose body, soft eyes, relaxed ears and a readiness to play are signs of a happy dog.
What PDSA says
PDSA says ears that are relaxed, not tense or flattened, are one sign, though pricked ears show alertness, not happiness. A dog with a relaxed posture, loose shoulders and soft eyes without a fixed gaze is feeling good, and a happy dog is more likely to play and leap around, with play bows a great sign. PDSA also warns that a wagging tail does not always mean happy: a low or slow wag can indicate fear or insecurity.
Consider the situation
PDSA says to always consider the situation your dog is in. See dog body language and stress signs on a walk.
Get the right help
If your dog seems unhappy for a while, ask your vet to check for health problems.
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Sources
Sources & care notes
Frequently asked questions
What are the good signs?
A relaxed, loose body, soft eyes, relaxed ears and a readiness to play.
Do relaxed ears really count?
Ears that are relaxed rather than tense or flattened are one sign, though pricked ears show alertness, not happiness.
Why consider the situation?
The same signal can mean different things in different settings. Read the whole dog, where they are and what just happened.
What if my dog seems unhappy for a while?
Ask your vet to check for health problems.
