For JSON file:
http://web.archive.org/cdx/search/cdx?url=example.com*&output=json
For TXT format:
http://web.archive.org/cdx/search/cdx?url=example.com*&output=txt
If you need to limit the time frame of the crawl then you can add the following parameters to the end to narrow the range.
yyyyMMddhhmmss
Example:
http://web.archive.org/cdx/search/cdx?url=example.com*&output=txt&from=2010&to=2018
You can also decrease or increase the limit to match your needs.
Example:
http://web.archive.org/cdx/search/cdx?url=example.com*&output=txt&limit=999999