It varies from router to router, but you should be able to enter your router's IP address (search by the manufacturer if you need it), then look at the logs in the router settings. It's probably not going to be a nice neat list of websites though. You will have to identify what device the traffic is going to/from using the IP address (this should be easy to determine). This is kind of an inefficient way to go about things, but it should work, again depending on the router.
An easier and free (for personal use) way of restricting access to unwanted websites if that is your goal would be to use OpenDNS. https://www.opendns.com