mysql client can detect the output fd, if the fd is S_IFIFO(pipe) then don't output ASCII TABLES, if the fd is character device(S_IFCHR) then output ASCII TABLES.
you can use --table to force output the ASCII TABLES like:
$mysql -t -N -h127.0.0.1 -e "select id from sbtest1 limit 1" | cat
+--------+
| 100024 |
+--------+
-t, --table Output in table format.