The “od” command can be used to dump a binary file at command line in Linux. Few examples are given below.

ASCII charcters:
od -t c mydata.bin

Hex bytes:
od -t x1 mydata.bin

Hex shorts:
od -t x2 mydata.bin

Decimal shorts:
od -t d2 mydata.bin

If you want a visual binary editor, you can try khexedit or xbindiff programs.