Run following command on your terminal:
wget --no-check-certificate 'https://docs.google.com/uc?export=download&id=FILEID' -O FILENAME
In the above command, change the FILEID by your file id and rename FILENAME for your own simple use.
Run the following command with necessary changes in FILEID and FILENAME:
wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=FILEID' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=FILEID" -O FILENAME && rm -rf /tmp/cookies.txt
You can also use this single purpose website which will generate this command for you.