On aircraft not having a tail strike detector it relies on the captain to declare a tail strike that he encountered at takeoff or even at landing however, it is the responsibility of the captain to decide to continue the flight or not, nevertheless:
at landing the maintenance team should inspect the aircraft and if a noticeable damage is seen, they do a report
The technical crew(pilot...) is suppose to go around its aircraft and inspect any visible damage, this is done every time a technical crew is in charge of a flight
Slight tail strike doe not cause any damage and may not be felt by the crew, however when it is very slight it is felt only by the cabin crew at the rear of the aircraft, in this case they are supposed ...to inform the captain, and make a cabin report.
All modern aircraft do have a tail strike detectors B777, 787, all Airbus etc
The causes of tail strikes are numerous, even though long aircraft do have this tendency and are protected for such event as the A321, whose fly by wire prevents this as possible, also it has a detector, and a memorized maintenance message.
A tail strike having caused damages should be repaired as recommended by the aircraft manufacturer otherwise it might be subject to a crash by flight control failure of the trim or of the elevators as happened to a Boeing 747, as documented here.
The causes of tail strikes are mainly:
Improperly Set Elevator Trim or Mis-Trimmed Stabilizer
Rotation at Incorrect Speed or excessive rotation rate
Improper Use of the Flight Director : The autopilot, of course, is not to be used for take off, but only when airborne after a certain altitude, if the F/D is displayed, also, the pilot should not follow its pitching order at rotation but only after; all Boeing and Airbus FCOM explain this.
Unstabilized Approach - flight crews who continue an unstabilized approach below 500' AGL will likely never get the approach stabilized. The result is a tendency toward large power and pitch corrections in the flare, often culminating in a substantial nose up pull at touchdown followed by a tail Strike.
Excessive Hold Off in the Flare and the pilot instinctively increasing pitch to try to prevent a hard landing. The resulting nose high attitude can lead to a tail strike. A good landing is one made at the right speed and close to the optimum touchdown point at a reasonable rate of descent.
At this website you will find every detail about tail strikes the causes, their effects, the training to avoid them etc.