From the mysql client program, there is no standard way to see progress. MariaDB does have a way (see my 10 year old post Is there a progress indicator for OPTIMIZE TABLE progress?)
If you want to track it, you can do so outside of the mysql client program.
First, login to mysql and run SELECT @@global.datadir;
Let's say it give you /var/lib/mysql
In the OS as root, do the following
cd /var/lib/mysql/dbname
ls -l tablename.ibd
This will show the physical filesize of the InnoDB table.
Now run this in that same database folder
ls -lt | grep "sql\-"
or
ls -lt *sql-*
You should see a temp table of some kind start with a #
When their respective filesizes come close, it should be done soon.
If the temp file is a small and not changing, your table might be locked waiting for read or writes to finish.