TCP/IP, as well as UDP, packets include some reference to their size. The IP header contains a 16-bit field that specifies the length of the IP header and data in bytes. The TCP header contains a 4-bit field that specifies the size of the TCP header in 32-bit words. The UDP header contains a 16-bit field that specifies the length of the UDP header and data in bytes.
Here's the thing.
Using the standard run-of-the-mill sockets in Windows, whether you're using the System.Net.Sockets namespace in C# or the native Winsock stuff in Win32, you never see the IP/TCP/UDP headers. These headers are stripped off so that what you get when you read the socket is the actual payload, i.e., the data that was sent.
The typical pattern from everything I've ever seen and done using sockets is that you define an application-level header that precedes the data you want to send. At a minimum, this header should include the size of the data to follow. This will allow you to read each "message" in its entirety without having to guess as to its size. You can get as fancy as you want with it, e.g., sync patterns, CRCs, version, type of message, etc., but the size of the "message" is all you really need.
And for what it's worth, I would suggest using a header instead of an end-of-packet delimiter. I'm not sure if there is a signficant disadvantage to the EOP delimiter, but the header is the approach used by most IP protocols I've seen. In addition, it just seems more intuitive to me to process a message from the beginning rather than wait for some pattern to appear in my stream to indicate that my message is complete.
EDIT: I have only just become aware of the Google Protocol Buffers project. From what I can tell, it is a binary serialization/de-serialization scheme for WCF (I'm sure that's a gross oversimplification). If you are using WCF, you don't have to worry about the size of the messages being sent because the WCF plumbing takes care of this behind the scenes, which is probably why you haven't found anything related to message length in the Protocol Buffers documentation. However, in the case of sockets, knowing the size will help out tremendously as discussed above. My guess is that you will serialize your data using the Protocol Buffers and then tack on whatever application header you come up with before sending it. On the receive side, you'll pull off the header and then de-serialize the remainder of the message.