First, look at the motor spec to get a rough idea. This helps figuring which scale to use.
Next, measure its resistance using the ohms scale. Using ohms law, and your intended battery, work out the nominal theoretical current. Current (in amps) = volts / resistance (in ohms). Because a motor is an inductive and varying load, double this figure. This should roughly agree with the spec figure.
To actually measure the current drawn, connect the meter using the "Com" and "A" meter connections in place of the fuse and switch the meter to a higher current range than the previous calculation indicated. Some meters have an extra terminal for up to 10A. Such a measurement only means anything under load.