Install Torsocks

apt-get install torsocks

if you haven't already enabled TOR, enable it via

systemctl enable --now tor

Surf in commandline via Torsocks

In my experience the only commandline browser that works together with torsocks is w3m. First install w3m:

apt-get install w3m

then you can start surfing via:

torsocks w3m address.onion