mupdf command does not install with homebrew
As of 2019, the accepted answer doesn't work for me.

I installed it with
brew install mupdf

After that, mupdf-gl, or mupdf-gl &lt;file path&gt; works. You might want to redirect STDOUT if you are using it in a script, for say in midnight commander like this:

# PDF
type/^PDF
    Open=mupdf-gl %f &gt;/dev/null 2&gt;&amp;1 &amp;