You can do a describe extended
which will show you everything about your table, including the serde properties you mentioned.
For example for your table:
$ hive -e "describe extended foo"
Detailed Table Information Table(tableName:foo, dbName:default, owner:cloudera, createTime:1383250992, lastAccessTime:0, retention:0, sd:StorageDescriptor(cols:[FieldSchema(name:bar, type:string, comment:null)], location:hdfs://localhost.localdomain:8020/user/hive/warehouse/foo, inputFormat:org.apache.hadoop.mapred.TextInputFormat, outputFormat:org.apache.hadoop.hive.ql.io.HiveIgnoreKeyTextOutputFormat, compressed:false, numBuckets:-1, serdeInfo:SerDeInfo(name:null, serializationLib:org.apache.hadoop.hive.contrib.serde2.RegexSerDe, parameters:{output.format.string=%1$s, serialization.format=1, input.regex=(.*)}), bucketCols:[], sortCols:[], parameters:{}, skewedInfo:SkewedInfo(skewedColNames:[], skewedColValues:[], skewedColValueLocationMaps:{}), storedAsSubDirectories:false), partitionKeys:[], parameters:{transient_lastDdlTime=1383250992}, viewOriginalText:null, viewExpandedText:null, tableType:MANAGED_TABLE)
If you look in the object returned, you can see the interesting part below:
serdeInfo:SerDeInfo(name:null, serializationLib:org.apache.hadoop.hive.contrib.serde2.RegexSerDe, parameters:{output.format.string=%1$s, serialization.format=1, input.regex=(.*)})