for ( int i = 0; i < rows; i++) { //for each row
  String row = Arrays.toString(matrix[i])
    .replace(",", "")  //remove the commas
    .replace("[", "")  //remove the left bracket
    .replace("]", "")  //remove the right bracket
    .trim();           //remove trailing spaces from partially initialized arrays
  System.out.println(row);
}