Edit: When this answer was written, there was only AngularJS 1.x. Look in the answers below for Angular versions >= 2.
AngularJS does not have a command line tool.
You can get the version number from the JavaScript file itself.
Header of the current angular.js
:
/**
* @license AngularJS v1.0.6
* (c) 2010-2012 Google, Inc. http://angularjs.org
* License: MIT
*/