Answer
If your certificate is exported with DER encoding, then use the accepted answer:
openssl x509 -inform der -in certificate.cer -out certificate.pem
If your certificate is exported with Base64 encoding, then rename the extension .cer to .pem. The file is already in .pem format.
How to tell that your .cer file is in .pem format?
See this stack-o answer, quoted here:
A .pem format certificate will most likely be ASCII-readable. It will
have a line -----BEGIN CERTIFICATE-----, followed by base64-encoded
data, followed by a line -----END CERTIFICATE-----. There may be other
lines before or after.
For example, a .pem certificate (shortened):
-----BEGIN CERTIFICATE-----
MIIG6DCCBNCgAwIBAgITMgAAGCeh8HZoCVDcnwAAAAAYJzANBgkqhkiG9w0BAQsF
ADBAMRUwEwYKCZImiZPyLGQBGRYFbG9jYWwxEzARBgoJkiaJk/IsZAEZFgNkb3Ix
EjAQBgNVBAMTCURPUi1TVUJDQTAeFw0yMDA1MDExNTI0MTJaFw0yMjA1MDExNTI0
MTJaMBYxFDASBgNVBAMTC3dwZG9yd2VibDE2MIIBIjANBgkqhkiG9w0BAQEFAAOC
...
-----END CERTIFICATE-----