Haven't used tcpser yet (or a Pi), so this won't be very helpful I'm afraid, but..
sudo tcpser -d /dev/ttyUSB0 -p23 -s 19200 -l5
Let's check the options:
sudo tcpser - running it as root.
-d /dev/ttyUSB0 - So, running it on the USB port ( Is the Pi's serial port USB0?)
-p23 - listening on port 23 (this is only for devices wanting to talk TO your Amiga "modem" I think). I wouldn't think this would conflict with your Pi listening on 23 for it's telnet (assuming it is running telnetd and listening on 23). Maybe, for testing, comment that out and leave it at the default 6400?
-l5 - logging level 5. Maybe pop it up to max (l7 I think?) to see what happens?
If I try to telnet to the Pi itself or another Linux machine it seems to get stuck at:
2014-03-28 05:49:16:-1243241360:INFO:Parsing nvt command
I think that's just an informational message, so TCPSER doesn't seem to be complaining..
Since it works on Windows I am guessing my Amiga Term settings are OK. I think the issue is on the Raspberry Pi itself, maybe the telnet settings. But I am not a Linux expert and I can't figure it out.
One thing I'd do is test telnet on the Pi first.
SSH into the Pi from your windows machine (putty). Then from your session, type "telnet 127.0.0.1" which should try to connect form the Pi to the Pi on port 23 using telnet.
If that works, your Pi is at least listening on 23.
If not, you're telnet daemon isn't happy.
desiv