Apple publishes an application called PacketLogger.
You can download it by going to https://developer.apple.com/download/more/?=for%20Xcode (or if you have Xcode installed, go to Xcode > Open Developer Tool > More developer tools), then loging in with your Apple developer account, search for Additional Tools and download the latest version (or if you have Xcode installed, download the version matching your version of Xcode).
Although the tool is associated with Xcode, Xcode is not required to install or use it.
Prior to Xcode 8, this package was named “Hardware IO tools”.
If you want the new tools to appear in Xcode’s developer tools menu, drag them to the Xcode.app/Contents/Applications folder.