1. to hear; to catch (the sound of something)
その音を聞きつけて、残りの仲間が集まってくる。Hearing that sound, the remaining companions gather around.
2. to hear about (rumour, etc.); to overhear; to learn of (something)
いったいどこから話を聞きつけてくるのか。Where on earth do they hear about it?
3. to get used to hearing