Debugging AngularJS applications can be streamlined using various techniques through the browser JavaScript console in Chrome, Firefox, and Internet Explorer. Developers can access and manipulate data and services deeply embedded within an application by employing tricks such as accessing scopes with `angular.element(targetNode).scope()` or `angular.element(targetNode).isolateScope()`, inspecting the scope tree with the AngularJS Batarang Chrome extension, and grabbing services with `angular.element(document.querySelector('html')).injector().get('MyService')`. Furthermore, developers can access controllers for directives with the `controller()` function and utilize Chrome console features like `$0 - $4` to access recently selected DOM elements. These methods allow for real-time testing and modification of AngularJS apps, offering a practical approach for developers to make quick changes and ensure functionality.