Basically use virsh commands to get the VMs' MAC address first and then use arp to get the IPs.
$ virsh domiflist $DOM
$ arp -i $BRIDGE
For example:
$ virsh list --all
Id Name State
----------------------------------------------------
2 suse_13_2 running
$ virsh domiflist suse_13_2
Interface Type Source Model MAC
-------------------------------------------------------
vnet0 network default rtl8139 52:54:00:d2:cd:5d
$ arp -i virbr0
Address HWtype HWaddress Flags Mask Iface
192.168.122.22 (incomplete) virbr0
192.168.122.222 ether 52:54:00:d2:cd:5d C virbr0
