udire is less used in normal speaking we use ascoltare o sentire, io sento un rumore,ascolta cosa ho da dirti,udire un rumore maybe is a poetic phrases,ciao e buon italiano

Udire is like sentire. Udire came from udito (one of 5 senses). Sentire also mean to feel. Ascoltare maybe is like listen; you can "sentire", but don't "ascoltare" if you don't care about what you are hearing.

Both "udire" and "sentire" mean "to hear" in english and, in italian, they are used equally. However "sentire" means also "to feel", for example :" io sento freddo - i feel cold".

"Udire" is mainly used in writing. In spoken language we say "sentire" with the same meaning ("sentire" as "udire" is referred to something that you usually do without purpose, as "hear" or "overhear"). "Ascoltare" is usually referred to something that you do with purpose, as the English verb "listening to".