You are able to view the notifications for your drivers on the notifications panel on the top right of the screen, but if you want to view a complete list of when your vehicles have entered or exited certain geofences, you can do so.
First, log in to Switchboard on https://app.onswitchboard.com. Select the "Equipment" section.
You should see your list of Vehicles. For the vehicle which you want to see the geofences for, select "View Details" for that vehicle.
At the Vehicle Details page, select "Geofence Events" on the left sidebar. Now you should see the Geofence Events for the current day. To see Geofence Events for different days, select a different date on the Date filter on the right.
There you should see the Geofence Events: which location your vehicle entered/exited, and what time they entered/exited that location!