"Learn how to listen and you will prosper even from those who talk badly.” Plutarch (AD 46-120) Greek Biographer & Philosopher.The Student Learning Commons at the W.A.C. Bennett Library has an exceptionally helpful on-line guide to effective note-taking at university lecture. (It is a trifle disconcerting reading for the Lecturers themselves, because it implies--indeed, all-but declares--that many of us are dull, confused, inarticulate, habituated and otherwise deficient in our craft.)
The guide is available online in .pdf format at this hotlink.
The Student Learning Commons additionally has an entire page of links to on-line resources to improve the student's "Listening & Note-Taking" at this hotlink.
For those who are less than 100% confident in their ability to listen and note-take during lecture, I strongly suggest that you allow yourself to profit from the assistance proffered here.