There are a great many solutions for this. @Acorbe is correct that
okular is one such solution. If you're looking for something lighter-weight, you may also want to take a look at
zathura. Or, if all you want to do is see the text contents (in a similar layout, but not exactly the same), you can also just open the PDF with
vim. By default, what vim will show you is this stripped-down text-only view.
Either way, pdftk is powerful for command-line usage (as Acorbe mentioned) but does not offer a way to view the resulting file (not that I know of anyway).