SSH has tilde (~) as an escape character by default. Make sure that the last you typed in was nothing or a newline, then type one of the following sequences:

~. - terminate connection
~B - send a BREAK to the remote system
~C - open a command line
~R - Request rekey (SSH protocol 2 only)
~^Z - suspend ssh
~# - list forwarded connections
~& - background ssh (when waiting for connections to terminate)
~? - this message
~~ - send the escape character by typing it twice

References

OpenSSH Escape Characters
man page ssh(1)