In the universe of Dragon Ball, such power levels can be accurately measured using a device known as a scouter , such as those used by Freeza and his men. Less technologically, power levels can also be "felt" by particularly skilled fighters. In addition, some warriors are known to be able to adjust their power at will (from their minimum to maximum power limits) or to suppress their ki output entirely-- making the distinction and comparison of raw power flawed.
With only a small number of exceptions, the exact power levels of characters is not spoken. The existence of a measurement unit for power was not introduced in the series until the arrival of Raditz in Dragon Ball Z, and as numbers proceeded to increase exponentially they quickly became useless. Most of the numbers here are provided from external semi-canon reference materials on the series, such as the official daizenshuu guides to the series.
Although some fans tend to use these numbers for hypothetical "who would beat who" debates, these relative power levels do not take into account advancement of techniques: only potential. Even with a lower power level, it is possible to magnify the power by concentrating it on a single point. As such, its only real purpose to be a rough guide and not an authoriative source.
King Cold (Freeza´s father, apparently in Form 2): 13,000,000
Cyborg Freeza (still in Form 4): 12,500,000
SSJ Future Trunks: 17,000,000
SSJ Goku: 20,000,000
Android Saga
Note: All power levels beyond this point are a guess. In the mangas, Japanese series, and Daizenshuus, Toriyama never listed or authorized any power levels after the Freeza Saga, as he felt they limited his ability to be flexible and creative with the outcome of battles. The following Power Levels are mearly a guess. They are never listed in any of the series, manga or daizenshuu.
Yamcha: 1,000,000
Android 17: 35,000,000
Android 18: 35,000,000
Android 19: 10,000,000
Android 20 (Cyborg Gero): 5,000,000
SSJ Goku (Not Sick): 25,000,000
SSJ Goku (Sick): <10,000,000 (Drops as Heart Virus Progresses)