I tend to have more lucid dreams than non-lucid dreams. I can generally tell which is which because in lucid dreams whenever I jump in the dream I get the style of vertigo inducing "OMFG I'm gonna drop" that Neo does in the Matrix when he first attempts the Jump simulation. I never actually fall but it feels like it every time whether I'm leaping buildings or jumping off the bottom step of the staircase. I hate it due to the fact that me and vertigo are sworn enemies.

For me the dreams which are lucid are always hyper realistic, even if the setting is something from a fantasy world/universe. I once dreamt I was in the Imperial Guard and the dream ended abruptly when a chaos Warlord Titan stepped on me. (it was not pleasant waking up from that I can tell you!). In most cases I can change my dream with varying levels of success; as my subconscious tends to make the repercussions of changing events play out in quite realistic form, mysteriously avoid certain death or defeat in one aspect and you'll see an escalation based upon my escape. As such, events such as the Titan stomp occurred because I changed other stuff and my subconscious imagination seized upon the opportunity to make any thoughts I had of being able to avoid the Titan crushing me to death would be inevitably futile (not much wins against a 100ft tall walking monstrosity with the power to level a continent).

My lucid dreams are also often marked by certain similarities, people whom I dream of in one dream will crop up in another, it can make for some pretty amusing dreams but also some terrible ones too. I die quite often in dreams and the result is generally the same, it goes black and I wake up panicked and sweating checking myself over to make sure I'm all in the right place. That being said: I've never consciously experienced sleep paralysis, the idea of being frozen with fear is alien to me.