× When I got up I listened to a strange noise in the kitchen.
√ When I got up I heard a strange noise in the kitchen.
Listen implies intention; you concentrate on or pay attention to some sounds and you try to understand. ‘Please, shut up. I’m listening to the news’ ‘Listen! Somebody is in the kitchen.’
Hear is an unintentional action. It means simply that sounds come into our ears. You are not paying attention: ‘I heard a knock at the door.’ ‘Can you speak louder. I can’t hear you’