Connect a multimeter between the positive battery post and the starter. Should read close the zero volts when you crank. Any voltage that you see on the meter is considered a voltage drop.
Check from the battery positive post that is furthest from the starter. Also, check at the other side of the starter solenoid (leading into the starter body) as well. Then do the same for the negative side. Negative battery posts to the starter frame.
Generally a maximum of 0.7 volt loss (0.5 volts for cables and 0.2 volts across the starter solenoid) is permissible for the entire starter system.
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