There are two ways of going about it:
1) Play on servers with custom maps and you should download them automatically. There's also a bug that'll boot you from the server if you either don't have it or have the wrong version, in which case you can just rejoin and they'll be downloaded.
2) Most custom maps are released on these forums under the
New Maps section. Download them, unzip if necessary, and place the .pms file in your "Maps" folder. It may also come with custom scenery and textures...just stick those in the appropriate folders, too (scenery-gfx and textures).