This is the solution:
add_action('pre_post_update', function($post_id, $post_data) {
global $original_post;
$original_post = get_post($post_id);
}, 10, 2);
add_action( 'save_post_', function($post_id, $post, $update) {
global $original_post;
$original_post->post_title; // original post title
$post->post_title; // new post title
}, 10, 3);