An alert using Records Modified as its trigger will respond when a record is viewed (amongst other events). You can narrow the alert to a specific record, or set of Title Words, using the optional conditions. You'd still have to check the Audit Events to confirm that the record was indeed viewed and not, say, that notes were added.
"An alert using Records Modified as its trigger will respond when a record is viewed." I believe this is only true if you have the context setting of "Update the Last Action Date of the associated record" ticked. Otherwise the record is not modified and therefor you won't get an alert.