How to check when stored procedures have last executed in Microsoft SQL Server

select
    DB_NAME(database_id) as "database_name" 
    , OBJECT_NAME(object_id, database_id) as "procedure_name"
    , last_execution_time
from 
    sys.dm_exec_procedure_stats

You can specify the name of database or procedure which you want to look:

SELECT b.name, 
        a.last_execution_time
FROM sys.dm_exec_procedure_stats a 
INNER JOIN sys.objects b 
    ON a.OBJECT_ID = b.OBJECT_ID 
WHERE DB_NAME(a.database_ID) = 'DatabaseName'
AND b.name = 'StoredProcedure';