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Change in /etc/ssh/sshd_config
Subsystem       sftp    /usr/libexec/openssh/sftp-server
To
Subsystem       sftp    /usr/libexec/openssh/sftp-server -f local5 -l INFO

(All loglevels: QUIET, FATAL, ERROR, INFO, VERBOSE, DEBUG, DEBUG1, DEBUG2, DEBUG3)

Reload sshd server
# service sshd reload

Add to /etc/rsyslog.conf
local5.none to default /var/log/messages

local5.info       /var/log/sftp-server

Restart rsyslog
# service rsyslog restart