Run following command on your terminal:
wget --no-check-certificate 'https://docs.google.com/uc?export=download&id=FILEID' -O FILENAMEIn 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.txtYou can also use this single purpose website which will generate this command for you.