All the existing answers only work from the sqlite command line, which isn't ideal if you'd like to build a reusable script. Python makes it easy to build a script that can be executed programatically.
import pandas as pd
import sqlite3
conn = sqlite3.connect('your_cool_database.sqlite')
df = pd.read_sql('SELECT * from orders', conn)
df.to_csv('orders.csv', index = False)
You can customize the query to only export part of the sqlite table to the CSV file.
You can also run a single command to export all sqlite tables to CSV files:
for table in c.execute("SELECT name FROM sqlite_master WHERE type='table';").fetchall():
t = table[0]
df = pd.read_sql('SELECT * from ' + t, conn)
df.to_csv(t + '_one_command.csv', index = False)
See here for more info.