As of Joomla 3.9, Joomla introduced an action logging system.
This system is the finalization of the "Recording Action Logs" project from GSoC 2016. This system provides an infrastructure to create an audit log of activity performed on a website and can be fine tuned to the site admin's preferences. Extensions are able to hook into this system to add custom messages or have the system process standard CRUD actions.
In this tutorial, you will find information on how to set up this new system.
Note: Only Super Users have access to the Action Logging system.