On Windows, installing Team Explorer (included with TFS) will allow you to install enough Visual Studio to access TFS. It also installs a command line tool ( tf.exe ) that can be used to perform most operations without having to start Visual Studio.
Installing TFS PowerToys will additionally add the PowerSehll module, which includes cmdlets for most version control operations, and integrates perfectly with PowerShell.
On other operating systems, look at Team Explorer Everywhere (as marc_s already answered).
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