The spin transfer torque efficiency was determined experimentally by observing the current-driven domain-wall depinning of PdCoFe/Pt nanowires with perpendicular magnetic anisotropy. The depinning time was exponentially proportional to the applied magnetic field, and was well explained by the Neel-Brown formula. The depinning time and threshold magnetic field were varied considerably by injecting current into the nanowire. The spin transfer torque efficiency was estimated to be (7.2 +/- 0.9) x 10(-15) Tm(2)/A from the linear dependence of the threshold current density with respect to the applied magnetic field