Since all DNS requests are over port 53, we can use the raw tcpdump utility and just look at the packets on that port:
tcpdump -vvv -s 0 -l -n port 53
Someone took the extra step to write a php script to massage that data, so that it is easier to read as well as focusing on those queries that either do not resolve or take a long time to resolve:
http://jontai.me/blog/2011/11/monitoring-dns-queries-with-tcpdump/
Find out what DNS requests are made in real time via command line