I've always used an extra quick settings widget in the notification shade that offers a battery icon in the status bar. Currently I'm using Power Toggles. I don't know why Google is so stubborn on this. The little tiny battery numbers you can barely see when tweaking system settings is really not a solution for the many many people who would prefer to see the battery percentage in the notification bar. Even locked down iOS provides this option!
Google has relented on everything else (we now have a clear all button in multi tasking!). But they still have this misguided assumption that allowing users to view their battery percentage at all times (like every other mobile computer device I own does) would create 'battery anxiety'. Actually not being able to easily view an accurate estimate of battery life gives me way more anxiety!
OK ending rant...