FWIW, StarGeek's answer was a great pointer in the right direction, but it did not work for me: many of my photos were reported to have "Invalid EXIF text encoding" (no obvious difference compared to those that were "fine"), even though exiftool somefile.jpg
would clearly output a valid "Modify Date".
So this is what I did:
for i in *.jpg ; do d=`exiftool $i | grep Modify | sed 's/.*: //g'` ; echo "$i : $d" ; done
...to produce output like this:
CAM00786.jpg : 2013:11:19 18:47:27
CAM00787.jpg : 2013:11:25 08:46:08
CAM00788.jpg : 2013:11:25 08:46:19
...
It was enough for me to output the timestamps next to the file names, but given a little bit of date-time formatting, it could easily be used to "touch" the files to modify their filesystem timestamps.