Microsoft Graph API
I'm sharing these first since you asked specifically about Microsoft Graph APIs in your question.
Please note that List ServicePrincipals api is only available under Beta endpoint. APIs in the beta endpoint are subject to change. Microsoft does NOT recommend that you use them in your production apps. I've shared the alternative API's in the next section.
To get a complete list
https:
In case you need to filter down to only those where "Application Type" is "Enterprise Applications" like Azure portal allows (screenshot below)
https://graph.microsoft.com/beta/servicePrincipals?$filter=tags/any(t:t eq 'WindowsAzureActiveDirectoryIntegratedApp')

Azure AD Graph API
Even though in most cases it's advised to use the newer Microsoft Graph API, this particular case is such that Microsoft Graph API v1.0 doesn't support this functionality yet, so for production applications you should make use of Azure AD Graph API. Read here for more info Microsoft Graph or Azure AD Graph
Complete List
https:
Filtered down to only those where "Application Type" is "Enterprise Applications" like Azure portal allows
https://graph.windows.net/myorganization/servicePrincipals?$filter=tags/any(t:t eq 'WindowsAzureActiveDirectoryIntegratedApp')
On a side note, also consider using other query parameters like $top
to get only say top 5 and $select
to select only those fields which are really needed. Example:
https://graph.microsoft.com/beta/servicePrincipals?$select=appid,appDisplayName&$top=5