There are plenty of ways to perform such a thing, but here are three ways I have already implemented the alert in my flows so far:
You can have an PutEmail at the end of each failure Queue and in that why, when a message gets rejected you will get notified by email. This can be done strictly in NiFi.
You can create a monitoring system which will interrogate your Bulletin Board using NiFi's REST API and send you whatever alerts you want. This can be done either directly inside NiFi or with a shell/python script on your server.
You tail the nifi-app.logs on each server and extract only the errors you are interested in. This solution can be implemented both in NiFi and on your local server.