Lightweight PDF viewer: MuPDF

MuPDF is a PDF reader that renders very quickly, yet still correctly.

It supports PDF 1.7 and all the fancy shenanigans that evince (Ubuntu's default PDF reader) fails to render properly.

On Ubuntu, MuPDF is available in the Universe sources. Simply install via APT:

sudo apt-get install mupdf

Interaction primarily happens via keyboard, but there is basic mouse support.\
See the manpage Show archive.org snapshot for more details on navigating.

One downside: There is no printing support, so if you want to print your latest-version PDF documents properly, you probably still have to resort to Adobe Reader or the lp command.