You can use the Sample tool to generate a table of X,Y,Z values:
Creates a table that shows the values of cells from a raster, or set of rasters, for defined locations. The locations are defined by raster cells or by a set of points.
Use the same raster as both the input and location dataset.
The tool will output a DBF or a GDB Table which you can then export to CSV.
Alternatively, see this answerthis answer for a non ArcGIS method that uses GDAL and doesn't include NoData values in the output.