This assumes you have already configured the aws command line tool. If not, check out my article on Getting Started with the AWS CLI.

The aws apigateway get-rest-apis command can be used to list your API Gateway REST APIs.

]$ aws apigateway get-rest-apis
{
    "items": [
        {
            "apiKeySource": "HEADER",
            "name": "sam-app",
            "tags": {
                "aws:cloudformation:stack-id": "arn:aws:cloudformation:us-east-1:123456789012:stack/sam-app/0882e400-842b-11ee-9053-0e798d5724d7",
                "aws:cloudformation:stack-name": "sam-app",
                "aws:cloudformation:logical-id": "ServerlessRestApi"
            },
            "endpointConfiguration": {
                "types": [
                    "EDGE"
                ]
            },
            "version": "1.0",
            "createdDate": 1700103122,
            "id": "abcdefg123"
        }
    ]
}

And then the aws apigateway get-resources command can be used to list your API Gateway Resources using the id returned in the prior command.

]$ aws apigateway get-resources --rest-api-id abcdefg123
{
    "items": [
        {
            "path": "/api",
            "id": "5fzp03",
            "pathPart": "api",
            "parentId": "wxhgpi1kz5"
        },
        {
            "path": "/api/sendgrid",
            "id": "c02nnh",
            "pathPart": "sendgrid",
            "parentId": "5fzp03"
        },
        {
            "path": "/api/sendgrid/v1",
            "resourceMethods": {
                "POST": {}
            },
            "id": "cn5emi",
            "pathPart": "v1",
            "parentId": "c02nnh"
        },
        {
            "path": "/",
            "id": "wxhgpi1kz5"
        }
    ]
}