Apps that have requested and been granted Security > Privacy permissions can be read via:
sudo sqlite3 /Library/Application\ Support/com.apple.TCC/TCC.db 'select * from access'
However, this does not specify which permissions were granted.
defaults read ~/Library/Preferences/com.apple.universalaccessAuthWarning.plist
..but this will only indicate whether a given app was approved or denied.
Taccy is a small utility that will list which permissions an app will request, even if it has not been launched yet: