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In addition to the successful answers already exists. Same thing can be achieved with tr, with the --delete option.
tr
--delete
echo "2.3.3" | tr --delete . echo "2.3.3" | tr -d . # for MacOS
Which will output: 233
233
echo "2.3.3" | tr --delete .
<<< echo "2.3.3" | tr --delete . >>> 233
<<< echo "2.3.3" tr --delete . >>> 233
<<< echo "2.3.3" tr --delete .