Catch

Catch: to manage to hear something.

Usage:
I couldn’t catch what the announcer said, with all the other noise going on.

Excerpts from soaps, novels and films:
Friends

“Monica: Hi, come in! Paul, this is.. (They are all lined up next to the door.)… everybody, everybody, this is Paul.

Chandler: I’m sorry, I didn’t catch your name. Paul, was it?”