Go to your plugin directory - in my example it is 
/usr/lib64/nagios/plugins/
Type you plugin name - in my example it is
check_tcp
now run the full command - (plugin name) -H (hostname) -p (port number)
/usr/lib64/nagios/plugins/check_tcp -H myservername -p 8080
output 
TCP OK - 0.004 second response time on port 8080|time=0.004146s;;;0.000000;10.000000
However in this example port number is optional
another example - 
in your config file which is look something like below (myserver.cfg) and  you want to run check_cpu from command line
define service{
  use                             generic-service
  host_name                       myserver
  servicegroups                   windows
  service_description             CPU
  contact_groups                  sysadmin_email_only
  notification_options            w,c,r
  check_command                   check_nrpe!check_cpu
}
to check instantly (without GUI green or red) 
Try this - (plugin full path) - H (servername) -c (checkname)
/usr/lib64/nagios/plugins/check_nrpe -H spc7atc01 -c check_cpu
output -
OK CPU Load ok.|'5'=4;80;90; '10'=3;80;90; '15'=3;80;90;
Thats it