This can be achieved a few different ways, some specific to your distribution so keep that in mind when testing out the commands below. Some commands may display the same information, but just in a different way. We have general documentation on Autostart services in our Reboot Survival Guide.
Keep in mind that these are some quick examples of commands to see the requested type of services but each command can be tweaked to better address any specific you are looking for (the man page will be your best friend here).
The output from this command will list services with a + or - next to each service. The + symbol means that specific service is currently running. The - symbol means that the service is not currently running.
This command will output services enabled to start at boot:
systemctl list-unit-files | grep enabled
The following command shows services that have been loaded and are active. This output includes a Description for each service in addition to its Status.
systemctl -t service --state=active
The following command displays services that are set to run on boot:
systemctl list-unit-files --state=enabled
This command shows the contents of the /etc/init.d directory: