For bash:
grep -E "[a-f0-9]{8}-[a-f0-9]{4}-4[a-f0-9]{3}-[89aAbB][a-f0-9]{3}-[a-f0-9]{12}"
For example:
$> echo "f2575e6a-9bce-49e7-ae7c-bff6b555bda4" | grep -E "[a-f0-9]{8}-[a-f0-9]{4}-4[a-f0-9]{3}-[89aAbB][a-f0-9]{3}-[a-f0-9]{12}"
f2575e6a-9bce-49e7-ae7c-bff6b555bda4