Okular

Okular is a multiplatform document viewer developed by the KDE community and based on Qt and KDE Frameworks libraries. It is distributed as part of the KDE Applications bundle. Its origins are from KPDF and it replaces KPDF, KGhostView, KFax, KFaxview and KDVI in KDE 4. Its functionality can be embedded in other applications.
— Wikipedia

I mostly use Zathura, which is less feature-rich, but much faster.