You can check for surface breaking defects like cracking or porosity using magnetic particle inspection (MPI) if the the material is ferritic like carbon steel. If the material is non-ferritic like aluminium or most stainless steels you can use dye penetrant inspection (DPI).
To check for defects within the body of the weld, porosity, inclusions or lack of fusion you will need radiography or ultrasonic testing, both of which are quite specialist and expensive.
If the item you have welded is not too critical then a visual inspection might suffice. Check that the edges of the weld, the toes, are bonded with the parent material and not just sitting on top (cold lap lack of fusion). Check that the weld material is thick enough - if it is a fillet weld then the throat thickness (from the face of the weld to the root) should at least equal the parent material thickness.
If you e-mail me some more details, and perhaps some photos of the weldment I'll check it out and give you an idea of where you can get it tested.
Good luck
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