In my experience, it varies depending on the dream. In some lucid dreams, it's not very realistic. In other dreams, it is almost as real as waking life. I have read dreams of other lucid dreamers that are extremely realistic, and some say it is more vivid than waking life.

Same thing with control and awareness. In some dreams, I know I'm dreaming but that's about it. It is a bit like I'm drugged, and I can't think clearly or control things. In other dreams, I know who I am and what I'm doing just like when I'm awake. But even if I am fully lucid I don't always have full control. These things take practice and skill. I'm still just a novice.