Normally means you are connecting to the wrong port or similar.

When you connect through cmd line, as you using a tnsnames entry ? If so, then do this:

tnsping blah

for exmaple

C:\Users\comcdona>tnsping np12

TNS Ping Utility for 64-bit Windows: Version 11.2.0.4.0 - Production on 30-NOV-2016 10:22:47

Copyright (c) 1997, 2013, Oracle.  All rights reserved.

Used parameter files:
c:\oracle\product\11.2.0.4\dbhome_1\network\admin\sqlnet.ora


Used TNSNAMES adapter to resolve the alias
Attempting to contact (DESCRIPTION = (ADDRESS = (PROTOCOL = TCP)(HOST = localhost)(PORT = 1521)) (CONNECT_DATA = (SERVER = DEDICATED) (SERVICE_NAME = np12)))
OK (0 msec)

Using the information that comes back, in my case, localhost, 1521, np12 use that information in the basic connection information for SQL Developer and see how you go. Note the difference between SID and SERVICE_NAME