Use $stateChangeSuccess.

You can put it in a directive:

app.directive('updateTitle', ['$rootScope', '$timeout',
  function($rootScope, $timeout) {
    return {
      link: function(scope, element) {

        var listener = function(event, toState) {

          var title = 'Default Title';
          if (toState.data && toState.data.pageTitle) title = toState.data.pageTitle;

          $timeout(function() {
            element.text(title);
          }, 0, false);
        };

        $rootScope.$on('$stateChangeSuccess', listener);
      }
    };
  }
]);

And:

<title update-title></title>

Demo: http://run.plnkr.co/8tqvzlCw62Tl7t4j/#/home

Code: http://plnkr.co/edit/XO6RyBPURQFPodoFdYgX?p=preview

Even with $stateChangeSuccess the $timeout has been needed for the history to be correct, at least when I've tested myself.


Edit: Nov 24, 2014 - Declarative approach:

app.directive('title', ['$rootScope', '$timeout',
  function($rootScope, $timeout) {
    return {
      link: function() {

        var listener = function(event, toState) {

          $timeout(function() {
            $rootScope.title = (toState.data && toState.data.pageTitle) 
            ? toState.data.pageTitle 
            : 'Default title';
          });
        };

        $rootScope.$on('$stateChangeSuccess', listener);
      }
    };
  }
]);

And:

<title>{{title}}</title>

Demo: http://run.plnkr.co/d4s3qBikieq8egX7/#/credits

Code: http://plnkr.co/edit/NpzQsxYGofswWQUBGthR?p=preview