Here is the simplest command for it
mysql -h<hostname> -u<username> -p<password> -e 'select * from databaseName.tableNaame' | sed 's/\t/,/g' > output.csv
If there is a comma in the column value then we can generate .tsv instead of .csv with the following command
mysql -h<hostname> -u<username> -p<password> -e 'select * from databaseName.tableNaame' > output.csv