Use kafka.tools.JmxTool.
Assuming you have enabled JMX on your broker on the default port of 9999, you can simply run this example command to print out jmx metrics for BrokerTopics via STDOUT
$ ./bin/kafka-run-class.sh kafka.tools.JmxTool \
  --object-name kafka.server:type=BrokerTopicMetrics,name=MessagesInPerSec
Trying to connect to JMX url: service:jmx:rmi:///jndi/rmi://:9999/jmxrmi.
"time","kafka.server:type=BrokerTopicMetrics,name=MessagesInPerSec:Count","kafka.server:type=BrokerTopicMetrics,name=MessagesInPerSec:EventType","kafka.server:type=BrokerTopicMetrics,name=MessagesInPerSec:FifteenMinuteRate","kafka.server:type=BrokerTopicMetrics,name=MessagesInPerSec:FiveMinuteRate","kafka.server:type=BrokerTopicMetrics,name=MessagesInPerSec:MeanRate","kafka.server:type=BrokerTopicMetrics,name=MessagesInPerSec:OneMinuteRate","kafka.server:type=BrokerTopicMetrics,name=MessagesInPerSec:RateUnit"
1567587563143,0,messages,0.0,0.0,0.0,0.0,SECONDS
1567587565148,0,messages,0.0,0.0,0.0,0.0,SECONDS
1567587567150,0,messages,0.0,0.0,0.0,0.0,SECONDS
...
JmxTool prints out JMX metrics every --reporting-interval option.
--reporting-interval <Integer: ms>
Interval (in millis) with which to poll jmx stats
Default: 2000 (2 seconds)
Value of -1 is equivalent to --one-time true