You can use the SampleConsoleClient that comes as a sample with the Prosys OPC UA Java SDK (free evaluation version available) to read the data history of a variable (with HistoryRead in AccessLevel) and event history of an object node (with HistoryRead in EventNotifier).
The sample application comes with source so you can also modify the client to your needs.
Prosys OPC UA Java Client does not provide event history quite yet.
UPDATE: Prosys OPC UA Client provides an Event History view, too.