You can view metrics related to your messaging queues via the messaging dashlet (System Profile -> Diagnose Performance -> Messaging) in your client. The data should be available out of the box as I believe the sensor packs related to that are automatically instrumented.
If you want to see whether the sensors for the messaging technologies are instrumented you can got to Edit System Profile -> Click on an agent group -> Sensor Placement -> search for messaging. All the boxes should be checked already.
Here is a link to more information on the messaging dashlet: https://community.dynatrace.com/community/display/DOCDT65/Messaging%20Dashlet
If you are only interested in the statistical information then you can use the following plugin without installation and configuration of message broker agent.
To instrument the message broker you can follow the instructions from the below documentation but make sure that you have the license for Message Broker which counts per execution group.