You can use the following stylesheet and NCBI E-Fetch for taxonomy:

<xsl:stylesheet xmlns:xsl="&lt;a href=" <a="" href="http://www.w3.org/1999/XSL/Transform" rel="nofollow">http://www.w3.org/1999/XSL/Transform" "="" rel="nofollow">http://www.w3.org/1999/XSL/Transform'
        version='1.0'
        >
<xsl:output method="text"/>

<xsl:template match="/">
<xsl:for-each select="/TaxaSet/Taxon/Lineage"><xsl:value-of select="concat('Lineage:root; ',text())"/><xsl:text>
</xsl:text></xsl:for-each>
</xsl:template>

</xsl:stylesheet>

Example:

xsltproc --novalid stylesheet.xsl "http://eutils.ncbi.nlm.nih.gov/entrez/eutils/efetch.fcgi?db=taxonomy&id=9606&retmode=xml"

Result:

Lineage:root; cellular organisms; Eukaryota; Fungi/Metazoa group; Metazoa; Eumetazoa; Bilateria; Coelomata; Deuterostomia; Chordata; Craniata; Vertebrata; Gnathostomata; Teleostomi; Euteleostomi; Sarcopterygii; Tetrapoda; Amniota; Mammalia; Theria; Eutheria; Euarchontoglires; Primates; Haplorrhini; Simiiformes; Catarrhini; Hominoidea; Hominidae; Homininae; Homo

Okay, I figured out a pretty decent solution - Bioconductor.

1) Install Bioconductor

2) Install the package called 'genomes', i.e., biocLite("genomes")

3) The function "taxid2names" (e.g., taxid2names('9606')) returns the species name and the lineage given a taxon id.

4) I wrote a short script to read through all the taxon ids, get the species names and the linage using taxid2names, and write them out to a text file.

infile <- read.table("input.txt") # where input.txt includes the list of ids
i <- 1
while (i < 506) { # 506 = # of taxa + 1 // Well, alternatively you can easily get the length of your id vector and use it instead
v1 <- a[i,1]
v2 <- taxid2names(v1)
write.table(v2, "output.txt", append=TRUE)
i <- i + 1
}