IndexController.php

<?php
/**
 * @link      http://github.com/zendframework/ZendSkeletonApplication for the canonical source repository
 * @copyright Copyright (c) 2005-2016 Zend Technologies USA Inc. (http://www.zend.com)
 * @license   http://framework.zend.com/license/new-bsd New BSD License
 */

namespace Application\Controller;

use Zend\Mvc\Console\Controller\AbstractConsoleController;
use Zend\Mvc\Console\View\ViewModel;

class IndexController extends AbstractConsoleController
{
    public function indexAction()
    {
        $this->getConsole()->writeText(__METHOD__); // Only this line is being shown in the console.
        $model = new ViewModel();
        $model->setResult(__CLASS__);
        return $model;
    }
}

module.config.php

<?php
/**
 * @link      http://github.com/zendframework/ZendSkeletonApplication for the canonical source repository
 * @copyright Copyright (c) 2005-2016 Zend Technologies USA Inc. (http://www.zend.com)
 * @license   http://framework.zend.com/license/new-bsd New BSD License
 */

namespace Application;

use Zend\Mvc\Console\Router\Simple;
use Zend\Router\Http\Literal;
use Zend\Router\Http\Segment;
use Zend\ServiceManager\Factory\InvokableFactory;

return [
    'router' => [
        'routes' => [
            'home' => [
                'type' => Literal::class,
                'options' => [
                    'route'    => '/',
                    'defaults' => [
                        'controller' => Controller\IndexController::class,
                        'action'     => 'index',
                    ],
                ],
            ],
            'application' => [
                'type'    => Segment::class,
                'options' => [
                    'route'    => '/application[/:action]',
                    'defaults' => [
                        'controller'    => Controller\IndexController::class,
                        'action'        => 'index',
                    ],
                ],
            ],
        ],
    ],
    'console' => [
        'router' => [
            'routes' => [
                'user' => [
                    'type' => Simple::class,
                    'options' => [
                        'route' => 'user',
                        'defaults' => [
                            'controller' => Controller\IndexController::class,
                            'action' => 'index',
                        ],
                    ],
                ],
            ],
        ],
    ],
    'controllers' => [
        'factories' => [
            Controller\IndexController::class => InvokableFactory::class,
        ],
    ],
    'view_manager' => [
        'display_not_found_reason' => true,
        'display_exceptions'       => true,
        'doctype'                  => 'HTML5',
        'not_found_template'       => 'error/404',
        'exception_template'       => 'error/index',
        'template_map' => [
            'layout/layout'           => __DIR__ . '/../view/layout/layout.phtml',
            'application/index/index' => __DIR__ . '/../view/application/index/index.phtml',
            'error/404'               => __DIR__ . '/../view/error/404.phtml',
            'error/index'             => __DIR__ . '/../view/error/index.phtml',
        ],
        'template_path_stack' => [
            __DIR__ . '/../view',
        ],
    ],
];

Module.php

<?php
/**
 * @link      http://github.com/zendframework/ZendSkeletonApplication for the canonical source repository
 * @copyright Copyright (c) 2005-2016 Zend Technologies USA Inc. (http://www.zend.com)
 * @license   http://framework.zend.com/license/new-bsd New BSD License
 */

namespace Application;

use Zend\Console\Adapter\AdapterInterface as Console;
use Zend\ModuleManager\Feature\ConsoleUsageProviderInterface;
use Zend\ModuleManager\Feature\ConsoleBannerProviderInterface;

class Module implements ConsoleUsageProviderInterface, ConsoleBannerProviderInterface
{
    const VERSION = '3.0.0dev';

    public function getConfig()
    {
        return include __DIR__ . '/../config/module.config.php';
    }

    public function getConsoleBanner(Console $console)
    {
        echo __METHOD__ . PHP_EOL;
        return 'Skeleton application ' . self::VERSION;
    }

    public function getConsoleUsage(Console $console)
    {
        echo __METHOD__ . PHP_EOL;
        return [
            // Describe available commands
            'user' => 'Run some action',
        ];
    }
}

modules.config.php

<?php
/**
 * @link      http://github.com/zendframework/ZendSkeletonApplication for the canonical source repository
 * @copyright Copyright (c) 2005-2016 Zend Technologies USA Inc. (http://www.zend.com)
 * @license   http://framework.zend.com/license/new-bsd New BSD License
 */

/**
 * List of enabled modules for this application.
 *
 * This should be an array of module namespaces used in the application.
 */
return [
    'Zend\Mvc\Console',
    'Zend\Router',
    'Zend\Validator',
    'Application',
];