Measure the distance between the stringers underneath the stairs. The stringers are the diagonal pieces of wood into which the treads of the stairs fit. The distance between them on a standard stairway should be somewhere between 32 and 36 inches.
Cut a 3/4-inch-thick by 10-inch-wide plank to a length that matches the distance between the stringers.
Cut two 3/4-inch-by-3/4-inch pieces of wood to a length of 10 inches.
Attach the two 3/4-inch-by-3/4-inch pieces of wood to the ends of the 10-inch-wide board so that they form cleats that are flush with the ends of the board. Drill pilot holes through the cleats and screw them to the ends of the board using 1 1/4-inch screws.
Place the board between the stringers underneath the stairway so that it is the same height as one of the treads and forms a shelf space with the tread above it as the top of the shelf space. Drive screws through the sides of the cleats and into the insides of the stringers to secure the shelf.
Repeat Steps 1 through 5 to create as many shelves as you want underneath your stairway.