You can set state_verbose: False in /etc/salt/master or /etc/salt/minion.
If you want to shorten the output to one line per state, set state_output: terse.
You can also pass these filters on command line:
salt --state-output=terse '*' state.highstate
If you only want to see changes, you can use state-output=changes or state-output=mixed. The latter one will show more information on a failure.
See the following answers fore more detail: basepi, psarossy