Descargar el deb y darle doble click
https://www.teamviewer.com/es-mx/descarga/linux/
https://download.teamviewer.com/download/linux/teamviewer_amd64.deb
Por consola:
sudo apt-get update
wget https://download.teamviewer.com/download/linux/teamviewer_amd64.deb
sudo apt install ./teamviewer_amd64.deb