If the domain, protocol and ports match, just use...
var links = $('iframe:first').contents()[0].links;
jsFiddle.
...or without jQuery...
var iframe = document.getElementsByTagName('iframe')[0],
doc = iframe.contentDocument || iframe.contentWindow.document;
var links = doc.links;
jsFiddle.
This takes advantage of the document.links property.
Assuming your iframe is on the same domain as your website, and has the id "my_iframe" and you have a div with the id "results", this should work for you:
$("#my_iframe").contents().find('a').each({
$('#results').append($(this).attr('href') + '<br />');
});
Take a moment to read up on JQuery's .contents() function.