7-zip will do what you want. There is a Linux command-line version of 7-zip.
Midnight Commander (
mc from the shell prompt) can read ISO files and extract files/directories. It used to be installed by default in some distros; I'm not sure if it still is.
You could also try xorriso in reverse mode:
one may enable reverse operation of xorriso and copy files or trees to
$ xorriso -acl on -xattr on \
-indev /dev/sr0 \
-osirrox on \
-cpx '/pictures/private/horses*/*buttercup*' \
/home/her/buttercup_dir -- \
-extract /sounds /home/her/sounds_from_me
Each copy command processes its files sorted by block address in the ISO image in order to reduce head moves with optical media. This
can bring effective read performance near to the raw media reading
Consider to enter dialog mode and use commands like -cd , -du , -lsl , -find.