Ash Shaykhul Islaam Bin Taymiyah, may Allaah have mercy upon him, was asked the following question:
Can the jinn be seen in their actual forms?
That which is in the Quraan is that they (the jinn) see the humans from where the humans can not see them, this is right. It (the ayah with that meaning) necessitates that they (the jinn) can see the humans in a scenario where the humans can not see them. Also it does not mean that no one from the humans can not see them in all scenarios; rather the righteous or other than the righteous can see them. Also however they can not see them (the jinn) in all cases…and all of the jinn are the children of Iblees.
The Reference: Daqaa’iqut Tafseer, (139/3), Print: Uloomul Quraan.
Ash Shaykh Abdur Razzaaq al Afeefee, may Allaah have mercy upon him, was asked the following question:
Can other than the messengers see the angels in their actual forms?
It has not been proven, so who ever alleges (that) then it is upon him to prove it however it has been authenticated in hadeeths that the angel approached the three: the baldheaded, the blind, the leper, all in their forms (of the three).
The Reference: Fatawaa wa rasaa’il ash Shaykh Abdir Razzaaq al Afeefee, (167/1), Print: Daarul fadeelah
Also al Imaam ash Shinqeeti, may Allaah have mercy upon him, mentioned in his tafseer “adwaa al bayaan” that the jinn can see the angels, as found in his tafseer of suratul Anfaal.
~ Abu Fajr AbdulFattaah bin Uthman