At least I can see the duration, but still not the time. To see the duration, open the contact and then swipe from right to left. This should take you from the contact "details" to the "Thread," which appears to have date and time of calls, length of calls, text messages, and emails with the client -- I mean contact.
This is stupid in two ways. First, I still can't see the time; Second, it only works for saved contacts, so if this is not a saved contact you will need to add to contacts before being able to view the Thread.
Edit: I did manage to find the actual call time by logging in to my verizon wireless account. Obviously that is not ideal, but if it is important enough, that should work.