When Access Control List Logging is activated on your Cisco device, you will see log entries like that in syslog:
Jun 14 09:49:13 RTR-1 41716: Jun 14 09:49:12.148 MEZ: %SEC-6-IPACCESSLOGP: list 120 denied udp x.x.x.x(1670) -> x.x.x.x(4808), 1 packet
Jun 16 22:14:09 RTR-1 42271: Jun 16 22:14:08.847 MEZ: %SEC-6-IPACCESSLOGDP: list 125 denied icmp x.x.x.x -> x.x.x.x (0/0), [...]
