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You can do this via adb. Does not require root, as far as I know (tested on a Galaxy Nexus running 4.2.1 built from AOSP source):

shell@android:/ $ content query --uri content://settings/secure --projection value --where "name='android_id'"
  settings/secure --projection value --where "name='android_id'"                
  Row: 0 value=<your ID in hexadecimal>
shell@android:/ $