You can log the events to the Windows logs or the Security log and then have an Alert set up for that event. The Alert would be set up to notify you via email. The following code was for someone looking to solve a little different problem but my response was to use what you are asking.
Automatically Execute Stored Procedure After Any RESTORE DATABASE Event
--Create the Server Audit
USE master
GO
CREATE SERVER AUDIT BackupTrap
TO APPLICATION_LOG
WITH (QUEUE_DELAY = 0, ON_FAILURE = CONTINUE)
GO
--Turn the Audit On
ALTER SERVER AUDIT BackupTrap
WITH (STATE = ON)
GO
--Create the Database Audit Specification
USE AdventureWorks2012
GO
CREATE DATABASE AUDIT SPECIFICATION BackupTrapAdventureWorks
FOR SERVER AUDIT BackupTrap
ADD (BACKUP_RESTORE_GROUP)
WITH (STATE = ON)
GO
--Create the job to run
USE msdb
GO
EXECUTE dbo.sp_add_job
@job_name = N'BackupAlertJob'
GO
EXECUTE dbo.sp_add_jobserver
@job_name = N'BackupAlertJob'
GO
EXECUTE dbo.sp_add_jobstep
@job_name = N'BackupAlertJob',
@step_name = N'RunSP',
@subsystem = N'TSQL',
@command = N'EXECUTE dbo.MyStoredProcedure',
@database_name = N'AdventureWorks2012'
GO