Try something like this, but update the code to follow the cell vertex numbering used in 3D, the example below is for 2D. You can find the numbering in the UFC manual/FEniCS book (I believe ...), or you can just inspect a random cell in the mesh and figure it out on your own.
import dolfin as df
def get_triangulation(mesh):
"""
Get the mesh triangulation in a format suitable for matplotlib (2D)
"""
coords = mesh.coordinates()
triangles = []
for cell in df.cells(mesh):
cell_vertices = cell.entities(0)
triangles.append(cell_vertices)
return coords, triangles