You can override any property from the command line by passing /p:PropertyName=Value as arguments to dotnet restore, dotnet build and dotnet pack.
Currently, Version composition works as this:
If Version is unset, use VersionPrefix (defaults to 1.0.0 if unset) and – if present – append VersionSuffix.
All other versions are then defaulted to whatever Version is.
So for example you can set <VersionPrefix>1.2.3</VersionPrefix> in your .csproj and then call dotnet pack --version-suffix beta1 to produce a YourApp.1.2.3-beta1.nupkg (if you have a project reference that you want the version suffix to be applied to as well, you need to call dotnet restore /p:VersionSuffix=beta1 before that – this is a known bug in the tooling).
Of course, you can use custom variables as well, see this GitHub issue for a few examples.
For a complete reference of supported assembly attributes, i suggest looking at the source code of the build logic here (the values surrounded with $() are the properties used).
And since i’m already talking about the source, this is the logic that composes the version and a few other properties.