I know this question is ancient but I know of an app that does this!
https://github.com/RallyTechServices/user-story-ancestor-grid
Cool! I didn't know about this app! A similar question came up earlier this week, and I answered it with the "Custom List with Deep Export" app. I'm gonna have to go back and "improve" my answer with this one!
And, just in case the same modification is needed by someone, here is a follow-up post by Rebecca that asks about adding a filter for Milestones and Tags:
HTML Code for 'filter by milestone' or 'tags'
Michael