In p4vasp, you can measure distances between atoms (multiple atoms at the same time) or get a Z-matrix of selected atoms.
I often use XCrySDen (for Linux, see link below) to measure distances and angles. You will need to use v2xsf (see link below) to convert a VASP CONTCAR or POSCAR to .xsf format before visualizing it with XCrySDen.
Hopefully one of those options is helpful for you.
Material Studio is a perfect visualization software to view output structures from VASP. However, it is not a freeware, but you can register for 1 month trial to decide you really want it or not. Or you can try VMD freeware (http://www.ks.uiuc.edu/Research/vmd/) to visualize POSCAR, CONTCAR and OUTCAR from VASP.
I always work with VESTA as it allows an intuitive and easy visualization of POSCAR files, CHGCARs, charge differences as well as other things. Aside from being able to easily measure distances and angles between atoms, it is also possible to create high quality figures suitable for publications. On top of that, it is freeware.
Step by step process of accurate (both total and projected) DOS and band structure calculations using VASP and some ways of plotting the band structure and DOS of our system is explained in a Youtube video.