How to get changed post title in my custom plug-in which fires when ‘save_post’ is called?

The second argument of the save_post action contains the post data:

do_action('save_post', $post_ID, $post);

You can also hook post_updated which will let you easily compare the before/after data:

do_action( 'post_updated', $post_ID, $post_after, $post_before);