You should be able to get everything you need from the gdb_items and gdb_itemtypes tables. The following query should get you started on SQL Server.
SELECT items.Name AS "Marker Name",
Definition.value('(/GPHistoricalMarker/TimeStamp/node())[1]','nvarchar(max)') AS "TimeStamp",
CONVERT(datetime, Definition.value('(/GPHistoricalMarker/TimeStamp/node())[1]','nvarchar(max)')) AS "DateTime"
FROM dbo.GDB_ITEMS AS items INNER JOIN dbo.GDB_ITEMTYPES AS itemtypes
ON items.Type = itemtypes.UUID
WHERE itemtypes.Name = 'Historical Marker'
More information: Query geodatabase system tables with SQL
If you are using Oracle, make sure to read the documentation. You'll need to access the GDB_ITEMS_VW view and set you the extproc.
Edit - This worked for me on ArcSDE 10.3 running on Oracle 11g:
SELECT items.name AS marker_name,
extractvalue(xmltype(items.definition), '*/TimeStamp') AS marker_timestamp_string,
to_timestamp(extractvalue(xmltype(items.definition), '*/TimeStamp'), 'YYYY-MM-DD"T"HH24:MI:SS.ff3') AS marker_timestamp_timestamp,
cast(to_timestamp(extractvalue(xmltype(items.definition), '*/TimeStamp'), 'YYYY-MM-DD"T"HH24:MI:SS.ff3') AS DATE) AS marker_timestamp_date
FROM sde.gdb_items_vw items
INNER JOIN sde.gdb_itemtypes itemtypes
ON items.type = itemtypes.uuid
WHERE itemtypes.name = 'Historical Marker'
Thanks!