Try `diff` in the following combination of zsh/bash process substitution and `colordiff` in CLI:

    diff -y <(xxd foo1.bin) <(xxd foo2.bin) | colordiff

Where:

- `-y` shows you differences side-by-side (optional)
- `xxd` is CLI tool to create a hexdump output of the binary file
- `colordiff` will colorize `diff` output (install via: `sudo apt-get install colordiff`)
- add `-W200` to `diff` for wider output

Hints:

- if files are to big, add limit (e.g. `-l1000`) for each `xxd`

Sample output:

[![binary file output in terminal - diff -y <(xxd foo1.bin) <(xxd foo2.bin) | colordiff][1]][1]

  [1]: https://i.sstatic.net/v1fw3.png