You can change delimiter in SQOOP command.
By default, it takes delimiter as a tab but if you want to explicitly define it you need to use this command.
--fields-terminated-by <char>
Example
sqoop import \
--connect jdbc:mysql://127.0.0.1:3306/GRHadoop \
--username root \
--password cloudera \
--table sitecustomer \
--fields-terminated-by '|' \
--lines-terminated-by "\n" \
--target-dir /user/cloudera/GR/Sqoop/sitecustomer_data \
--m 1;