There are a few options for ripping your CDs from the command line, but abcde is easily the most widely available and one of the easiest to work with. You can use it for simple one off rips, or you can configure it to your exact specifications for every use.
This is a companion discussion topic for the original entry at https://linuxconfig.org/how-to-rip-cds-from-the-linux-command-line