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Showing content from http://docs.aws.amazon.com/iot/latest/developerguide/cloudwatch-logs-rule-action.html below:

CloudWatch Logs - AWS IoT Core

CloudWatch Logs

The CloudWatch Logs (cloudwatchLogs) action sends data to Amazon CloudWatch Logs. You can use batchMode to upload and timestamp multiple device log records in one message. You can also specify the log group where the action sends data.

Requirements

This rule action has the following requirements:

An IAM role that AWS IoT can assume to perform the logs:CreateLogStream, logs:DescribeLogStreams, and logs:PutLogEvents operations. For more information, see Granting an AWS IoT rule the access it requires.

In the AWS IoT console, you can choose or create a role to allow AWS IoT to perform this rule action.
If you use a customer managed AWS KMS key (KMS key) to encrypt log data in CloudWatch Logs, the service must have permission to use the KMS key on the caller's behalf. For more information, see Encrypt log data in CloudWatch Logs using AWS KMS in the Amazon CloudWatch Logs User Guide.

MQTT message format requirements for batchMode

If you use the CloudWatch Logs rule action with batchMode turned off, there are no MQTT message formatting requirements. (Note: the batchMode parameter's default value is false.) However, if you use the CloudWatch Logs rule action with batchMode turned on (the parameter value is true), MQTT messages containing device-side logs must be formatted to contain a timestamp and a message payload. Note: timestamp represents the time that the event occurred and is expressed as a number of milliseconds after January 1, 1970 00:00:00 UTC.

The following is an example of the publish format:

[
  {"timestamp": 1673520691093, "message": "Test message 1"}, 
  {"timestamp": 1673520692879, "message": "Test message 2"}, 
  {"timestamp": 1673520693442, "message": "Test message 3"}
]

Depending on how the device-side logs are generated, they might need to be filtered and reformatted before they're sent to comply with this requirement. For more information, see MQTT Message payload.

Independent of the batchMode parameter, message contents must comply with AWS IoT message size limitations. For more information, see AWS IoT Core endpoints and quotas.

Parameters

When you create an AWS IoT rule with this action, you must specify the following information:

logGroupName

The CloudWatch log group where the action sends data.

Supports substitution templates: API and AWS CLI only

roleArn

The IAM role that allows access to the CloudWatch log group. For more information, see Requirements.

Supports substitution templates: No

(optional) batchMode

Indicates whether batches of log records will be extracted and uploaded into CloudWatch. Values include true or false (default). For more information, see Requirements.

Supports substitution templates: No

Examples

The following JSON example defines a CloudWatch Logs action in an AWS IoT rule.

{
    "topicRulePayload": {
        "sql": "SELECT * FROM 'some/topic'", 
        "ruleDisabled": false, 
        "awsIotSqlVersion": "2016-03-23",
        "actions": [
            {
                "cloudwatchLogs": {
                    "logGroupName": "IotLogs",
                    "roleArn": "arn:aws:iam::123456789012:role/aws_iot_cw",
                    "batchMode": false                    
                }
            }
        ]
    }
}