A liquid market has many buyers and sellers, a tight bid-ask-spread, and enough depth in the order-book that a normal order fills at close to the quoted price. An illiquid market has wide spreads, thin size, and large slippage.
Liquidity matters most on the way out. You can always get into a trade; getting out of a large position in a thin stock or an out-of-the-money option can cost far more than you expect.
Example: an ETF trades 50 million shares a day with a one-cent spread; a small-cap trades 80,000 shares a day with a 15-cent spread. A 5,000-share exit is trivial in the first and about 6% of daily volume in the second.
Related: bid-ask-spread, slippage, volume, market-maker, order-book