python3 -c "import bs4, requests; print(bs4.BeautifulSoup(requests.get('$URL').text).title.text)"

This needs the python3-bs4 package on Debian-based distribution. Note that we use the .text method instead of .content to ensure that we get back a Unicode string (rather than just the raw bytes, which can and will get mangled by anything you pipe this into).

NOTE

This won’t work on webpages for sites like Twitter that set the <title/> using JavaScript after initial page load.