The Playstation had Net Yaroze, which was almost comparable the usual devkit. A collector's item nowadays.
The PS2 had PS2 Linux, which required special RGB monitors with sync on green, but it provided almost the same access to the hardware as the devkits. The main difference was the amount of available RAM, only PS2GL and the higher level PS2 official graphics API were available. The low level one wasn't accessible.
The PS3 provided a very limited support for Linux. The graphics hardware was exposed as a plain framebuffer. Then came the firmware update that wiped Linux out of the PS3.
The PS Vita did offer a Mono based SDK, but after the initial release, they went silent. You can still access the web site, though.
The PS4 already exposes two graphics APIs much more powerful than Vulkan, with the developers being quite experienced on them.
If you search SCEE and GDC Vault web sites there are plentiful documents and sessions, NDA free, how the console market works.