pdf viewer for command line only

Not a real viewer, but as first aid a converter may also help:

pdftotext file.pdf - | less

pdftohtml -stdout -i file.pdf | lynx -stdin

pdftotext and pdftohtml are part of the Poppler package.

I don't think it will work remotely, but locally I used to use fbgs (Info about fbida). It converts the PDF pages to TIFF files and displays them in a contiguous fashion using the framebuffer. Including images and proper layout. However, it's slower then using a GUI viewer.