dpkg -L <package-name>

Example output:

/usr
/usr/bin
/usr/bin/libpng16-config
/usr/include
/usr/include/libpng16
/usr/include/libpng16/png.h
/usr/include/libpng16/pngconf.h
/usr/include/libpng16/pnglibconf.h
/usr/lib
/usr/lib/aarch64-linux-gnu