First, set the Arnold log verbosity to Info (typically, Info is more than enough).

Then open the Log Viewer.

Render something. Then in the Log Viewer, switch to text-only view.

Select All (Ctrl+A) and Copy (Ctrl+C) and paste into a text file.

You can get individual log files for each frame:

Or you can check the MayaRender log, which will be one log file, with the log messages for every frame.
On OSX, open the Console and look for ~/Library/Logs/Maya/mayaRender.log
