Depends on your feed. Most feeds provide a timestamp on the tick, sometimes with a precision of 1/1000th of a second, with the timestamp coming from the exchange.
If your feed is like that, sync your time as much as you can with a known precise time source, then compare the timestamp of the trade with the synced time on your computer. The difference is the lag.
Yes. I think it's mandatory that you have exchange generated timestamps. I still would calculate the deltas between timestamps and my h/w clock ticks. I think this will give me a better accuracy. The exact times aren't so important in this situation. It's more a question of lag.