It depends a bit on what you want exactly.
Logwatch, for example, send me a report each day and includes various authorization failures, although this includes ftp, ssh and others,
Depending on your distro, a simple script to grep /var/log/secure (that's my relevant log), so something like
grep "authentication failure" /var/log/secure | grep "sshd:auth" | grep "Aug 14"
But as I said, depends what you want