Use isql (which comes as part of the UnixODBC installation):
user> isql -v vardyurs <ursusername> <urspassword>
+---------------------------------------+
| Connected! |
| |
| sql-statement |
| help [tablename] |
| quit |
| |
+---------------------------------------+
SQL> quit
user>
| ...previous | up (conts) | next... |