What you want is an old Nokia with F-Bus (M-Bus may work too)
1) Wire up a avr/pic UART (with some 5v-3.3v uart leveling) to the nokia bus pins. (you will need a crystal on the micro, internal osc wont be fast/stable enough for 115200 baud)
2) Configure the micro UART to the baudrate for the bus type used. F-bus is 115,200bps, 8 data bits, no parity, one stop bit
3) Send a string of 0x55 ('U') 128 times (this syncs the nokia to the 115,200 baud clock)
4) When the phone receives a sms it automatically sends the data out the bus. So all you need to do is unpack the 7bit text into 8 bit ascii.
This website has all the nokia bus info and shows which gold pads are the bus lines
http://www.embedtronics.com/nokia/fbus.html I'm not too sure how dotmatrix printer coms work, but if they just print raw 8bit data you might be able to do away with the microcontroller if you can build a 7bit to 8bit unpacker using logic gates.
Then let the phone send the entire sms frame through some unpacking logic to the printer itself. You'd get some formatting data, the phone number and the message.