Get your copy of ffmpeg from https://ffmpeg.zeranoe.com/builds/ (windows) or https://johnvansickle.com/ffmpeg/(linux) or http://www.ffmpegmac.net/ (mac)

Once you have the executable ffmpeg.exe or ffmpeg, you can run the command

./ffmpeg -i /videos/INPUT.mp4 -vn -c:a libmp3lame -q:a 0 OUTPUT.mp3

Here the input file is MP4 file, but it can be any format of video /audio file with audio track in it.

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