From OALD:
awake / awaken / wake up / waken
Wake (up) is the most common of these verbs. It can mean somebody has finished sleeping:
What time do you usually wake up?
or that somebody or something has disturbed your sleep:
The children woke me up.
I was woken (up) by the telephone.
The verb awake is usually only used in writing and in the past tense awoke:
She awoke to a day of brilliant sunshine.
Waken and awaken are much more formal. Awaken is used especially in literature:
The Prince awakened Sleeping Beauty with a kiss.
Awake is also an adjective:
I was awake half the night worrying.
Is the baby awake yet?
Waking is not used in this way.