We study the hyperfine spectrum of atoms of $^{87}$Rb dressed by a radio-frequency field, and present experimental results in three different situations: freely falling atoms, atoms trapped in an optical dipole trap and atoms in an adiabatic radio-frequency dressed shell trap. In all cases, we observe several resonant side bands spaced (in frequency) at intervals equal to the dressing frequency, corresponding to transitions enabled by the dressing field. We theoretically explain the main features of the microwave spectrum, using a semi-classical model in the low field limit and the Rotating Wave Approximation for alkali-like species in general and $^{87}$Rb atoms in particular. As a proof of concept, we demonstrate how the spectral signal of a dressed atomic ensemble enables an accurate determination of the dressing configuration and the probing microwave field.
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