How to get attachment id as soon as it is uploaded through media uploader in jquery?

You are close, you just need to hook into the add event instead of the reset event. (In case you did not know, these are standard events provided by Backbone collections. So familiarizing yourself with that will be helpful when developing things around stuff where WordPress employs Backbone.js.)

So basically you’d modify your code like this:

if (typeof wp.Uploader !== 'undefined' && typeof wp.Uploader.queue !== 'undefined') {
    wp.Uploader.queue.on('add', function() { 
        console.log('image uploaded!');
    });
}