xxd does both binary and hexadecimal.
xxd
bin:
xxd -b file
hex:
xxd file
hexdump -C yourfile.bin
unless you want to edit it of course. Most linux distros have hexdump by default (but obviously not all).
hexdump
vi your_filename
hit esc
Type :%!xxd to view the hex strings, the n :%!xxd -r to return to normal editing.
:%!xxd
:%!xxd -r