There's plenty of add-ons for Firefox, Chrome, etc, that can help. Though I'd suggest picking up Scrapebox if you can afford it. It'll check them all at once with the press of a button.
For Google Chrome, I use an extension called Page Rank Status. You can download it from here: https://chrome.google.com/webstore/detail/hbdkkfheckcdppiaiabobmennhijkknn That's assuming you're using Chrome though.
Its so simple. Go to your Mozilla Firefox, install Google page rank checker from tools(Add-ons) to check the page rank of each and every page of all websites.
by installing an addon to your browser, namely: "seoquake" would provide all the the details of a particular webpage and yes definitely the inner page ranking as well.
There are several Add-Onns you can use for different browsers. Type PR+Your Browser into Google or Bing and you'll find a bunch of results to check inner PR
aside from add-ons, there is also a google pr checker tool available on the web. A simple google search will help you find it.
All these suggestions require navigating inner pages manually. But this Page rank sorter tool will be very useful to see the page rank of inner pages at once. (That too with sorting)