By default, stdout from the workers isn't redirected when using foreach with the doMC backend, so output should be displayed unless you're using a GUI such as R.app on Mac OS X or Rgui on Windows. I just tried a quick test on my Mac, and it appears that RStudio also throws away stdout from the workers created by doMC/mclapply.
When executing R from a terminal, I see worker output on Mac OS X 10.7.5 using R 3.0.2 and "R Under development (unstable) (2014-02-13 r64986)". Since you're using a slightly older development build, it's possible that there was a problem that has been subsequently fixed.
You could try explicitly turning on output with the doMC-specific "silent" option:
> opts <- list(silent=FALSE)
> tmp <- foreach(i=1:3, .options.multicore=opts) %dopar% message('i^2 = ', i^2)
i^2 = 1
i^2 = 4
i^2 = 9
This causes mclapply to be called with mc.silent=FALSE
. If that doesn't help, I suggest trying the latest development build which works for me.