You should be able to google the specific medication to find information about it. That said, most medications* are good long after their expiration date as long as they are stored in the conditions specified (usually in a dark, relatively cool place). It doesn't magically turn into poison - usually it just gradually loses potency over time. So, 3 years past the expiration date it might, for example, have 90% of the original potency but still be usable. But for many drugs they have done specific experiments to measure the amount that it degrades over time and that data should be available with some digging. If taking them is substantially dangerous I would expect that info to be online since plenty of people take expired medication.
*this applies mostly to meds in tablet/capsule form. liquid suspensions tend to be a lot less stable and are probably not reliable in this situation.