The SearchEngineKeywordsPerformance plugin offers page crawling error reports:
Crawling error reports show all pages that could not be loaded while the bot was crawling your site. The detailed reasons, like server errors, robots.txt exclusions, not found pages, and similar will help to take the right actions to avoid such issues. For Google crawling errors it is additionally possible to view all external links and sitemaps that point to those pages.
The crawling error reports do not provide any historical feature. They will always show the latest data provided by the Search Engines. The data will be imported once a day.