A straightforward but complicated way to do this would be to note that, at any given time $t$, your acceleration will be given by
$$
\frac{d^2h}{dt^2} = \frac{GM}{h^2},
$$
where $h$ is your height above the centre of the Earth. $G\approx 6.7\times 10^{-11}\,\mathrm{m^3kg^{-1}s^{-2}}$ is the gravitational constant and $M\approx 6.0\times 10^{24}\,\mathrm{kg}$ is the mass of the Earth. This equation comes from Newton's $F=ma$, and then cancelling $m$ from both sides. You could then solve this differential equation with the initial condition that, at time $t=0$, $dt/dh=0$ and $h=r_E$ (the radius of Earth, $\approx 6.4\times10^6\,\mathrm{m}$) to get $h(t)$, and then take the limit of $dt/dh$ as $t\to\infty$. This would give you the asymptotic speed that you will approach once you are far enough away from the Earth that its gravity is insignificant.
However, a simpler way is to note that whenever you move upwards by a small distance $\delta h$, your kinetic energy must increase by $mg\delta h$. (Normally this would be a decrease, of course.) Here $g$ is the acceleration due to gravity, which is given by $GM/h^2$. Since your initial kinetic energy is 0, your total kinetic energy after travelling from height $h_0 = r_E$ to height $H$ is given by
$$
m\int _{h_0}^H \frac{MG}{h^2}dh = m\left[ -\frac{GM}{h} \right]_{h_0}^H = GMm\left(\frac{1}{h_0} - \frac{1}{H}\right).
$$
(Note that we're now integrating with respect to $h$ rather than $t$, which makes it much easier.) Taking the limit as $H\to\infty$ gives $\frac{GMm}{h_0}$. This is your eventual kinetic energy, which gives us
$$
\frac{1}{2}mv^2 = \frac{GMm}{h_0},
$$
or
$$
v = \sqrt{\frac{2GM}{h_0}}.
$$
Plugging in the numbers (with M the mass of Earth and $h_0$ its radius), we get $v=11.8\,\mathrm{kms^{-1}}$, which again is an asymptotic speed that you will tend towards but never quite reach.
Of course, the above assumes no influence from the Sun or any other object. However, using this method we can calculate the maximum speed you can reach by noting that your final kinetic energy must be the sum of the potential energy you've gained from the Earth's inverted gravity field, plus the energy you've gained from the Sun's inverted gravity field. This gives us
$$
\frac{1}{2}mv^2 = \frac{GM_\text{Earth}m}{r_E} + \frac{GM_\text{Sun}m}{r_O} \,\,,
$$
(where $r_O$ is the radius of Earth's orbit), or
$$
v = \sqrt{2G\left(\frac{M_\text{Earth}}{r_E} + \frac{M_\text{Sun}}{r_O}\right)}\,\,.
$$
Plugging in the numbers again (Wolfram Alpha is incredibly useful for this sort of thing. It even checks the units for you) we get $v=43.87\,\mathrm{km\,s^{-1}}$ for the speed you would approach after leaving the Solar system.