Hi, @Dipanjan Das Welcome to Microsoft Q&A thanks for posting your question.
You can either install a certificate on your server, follow the document here (https://learn.microsoft.com/en-us/sql/linux/sql-server-linux-encrypted-connections) or disable encryption with -No option (https://learn.microsoft.com/en-us/sql/connect/odbc/linux-mac/connecting-with-sqlcmd)
Regards
Geetha