How can I compare an ntp server's time to my server's time?

Solution 1:

ntpq -p ntp.ubuntu.com

From man ntpq:

...
-p     Print  a list of the peers known to the server as well as a summary of their state. This is equivalent to the peers interactive command.
...

Edit: The host is timing out right now. ntpq -p pool.ntp.org will return a valid result.

Solution 2:

You can use ntpdate to query a time server

ntpdate -q ntp.ubuntu.com