Using `tcpdump` which is installed by default on many distributions:
tcpdump -n -i eth0 icmp6
will show you all ICMPv6 packets of which - under usual conditions - almost all are neighbor discovery packets. In order to see only router advertisements, use the following command:
tcpdump -n -i eth0 icmp6 and ip6[40] == 134
For more verbosity, add `-v`; to display packet contents, use the option `-X`.
tshark is usually bundled with wireshark, which most distributions do not install by default but provide as additional package.