We just released Fennec Beta 1 for Maemo devices like the Nokia n810. If you don't have one of those, you can also get a build for a desktop OS like Windows, Mac, or Linux. Download it and give it a try! Performance is much better than in our previous alpha releases, the user-interface is coming along as well.
In the time-honoured tradition of my people, I have recorded a video walkthrough. If you don't want to install the beta, or just want to have a guided tour first, click on through:
Of course, there's more going on around Fennec as well. People have been creating new add-ons for Fennec, which you can install either from addons.mozilla.org or directly from within Fennec's add-ons manager.