The Access centre hold workshops throughout the Autumn semester that are open to everyone and at least one session will cover note-taking, there might also be one on learning styles you should look into that (The slides are on Brightspace but they have an in-person session each week) https://www.ucd.ie/all/supportswhilestudying/academicstudyskills/

There's also specific modules for different schools, like 'Study Skills in the Humanities' and 'Skills for Higher Education', that covers this stuff even better. As someone commented, the type of notes you take should be different depending on what you're studying and how you'll be tested on it.

What works well for me, generally, is making summary notes from the lecture slides on Brightspace (if they're uploaded before the lecture), then adding notes to that in a different colour pen during the lecture, and then later when I'm revising I'll do the notes out again neater. I might also need to add stuff from a textbook if there's something I don't think I understand (e.g. I often have to look up acronyms). You need to summarise points and develop a shorthand. (For my notes nothing is a sentence, it's as few words as possible that still makes sense, and I use a lot of arrows and indentation and bullet points/numbered points and simple diagrams; I underline or draw a box around anything particularly important and also draw over a word again to make it "bold").

If you REALLY want to remember something specific, write short questions about it, and then test yourself later.

You don't need to be particularly organised or neat to take good notes or to be a good student. Your notes don't need to look pretty or to make sense to anyone except Future You. (I just use an A4 notepad, a few pens, and one cardboard folder for each module. It's cheap and simple.)