it might be a bit complicated, so read up on the internet (official manual) or
man parted. Some commands to get started:
parted /dev/sdX # substitute with your drive (and you prolly need sudo)
> mklabel gpt # makes a new gpt partition table, afaik needed for >2TB
> mkpart pri 1 -1 # makes a new primary partition from start to end,
# note there are only primary partitions on gpt
afterwards format your partition, not exactly sure about the command in ubuntu, try
mkfs --type ext4 /dev/sdXY
for an ext4 partition.
That should suffice to make you able mount the partition.