It usually means that you can sit in the lectures, but that none of your work will be graded/marked and you won't get any credit for it. Some universities have officiallyofficial forms that record the fact that you audited a course, and some. Others just do it through personal consultation with the instructor.
During my first year of grad school, I audited a codes and cryptography course my senior-year undergrad friends were taking. I sat through the crypto part and then bailed on the codes. It was nice. I know a little about RSA and Elliptic Curves now. I got to hangout with my friends, and I didn't have to do any work. I think I'm a better educated person for it, but it doesn't really affect my career.