the definition of upper tail dependence of r.v. $X$ and $Y$ with their respective marginal distributions F and G, is:
$\lim_{u \to 1} P\{ Y>G^{-1}(u)|X>F^{-1}(u))=\lambda_u$ (Embrechts et al. (2001)). It is the probability that Y reaches extremely large values, given that random variable X attains extremely large values. Hence it can understood in a way that the closer the $\lambda$ is to one, the closer the link between X reaching high values and Y reaching large values as well.
Telling whether the copulas exhibits tail dependence is not hard in extereme cases: what matters is whether the (two) variables appear behave more closely in the corners of the graph than in the center.
The Gaussian copula does not have tail dependence - though the random variables are highly correlated, there seems to be no special relationship any of the variables reaches large values (in the corners of the chart).

The absence of the tail dependence becomes apparent when the plot is compare to the plot of simulations from the same marginals but with T-2 copula.
T-copulas have the tail dependence and the dependence increases with correlation and decreases with the number of degrees of freedom. If more points were simulates, so that larger portion of the unit square was covered, we would almost see the points a thin line in the upper-right and lower-left corners. But even on the chart, it is apparent that in the upper-right and lower-left quadrants - i.e. where both variables attain very low, or very high values - the two variables appear to be even more closely correlated than in the body.

Financial markets tend to exhibit tail-dependence, especially lower tail dependence;. E.g. major stock returns in normal times have a correlation of, roughly 0.5, but in September/October 2008, some pairs had correlation of over 0.9 - they were both falling massively. The Gaussian copula was used before the crises for pricing of come credit products and since it did not account for the tail dependence, it under-estimated potential losses when many home-owners became unable to pay. A homeowners' payments may be understood as random variables - and they proved to be highly correlated in the moment when many people started having trouble paying their mortgages. Since these defaults were closely related due to an adverse economic climate, the agains showed a tail-dependency.
PS: Technically speaking, the pictures show multivariate distributions generated from the copulas and normal marginals.