Your domain is registered for the period that you paid for. You will be reminded to renew it at 2 different dates prior to expiry, 30 days before, 5 days before.
One day after expiry, an email will also be sent to remind you of the expiry status of your domain.
Renewal is processed upon receiving of your payment.
Domain not renewed after the last day of registration, your domain will no longer resolve except for records cached in other DNS servers worldwide.
It will ultimately not resolve once all such cache servers' records expire.