Had the same issue after upgrading from 14.04 to 16.04.

Even with the planning to upgrade all our Ubuntu Servers to the lastest LTS ( 
18.04) 
Needed to monitor disk usage from Nagios Server, since its critical file 
storage service.

My Nagios server is running on a FreeBSD 12 Stable Server with NRPE
latest version ( check_nrpe3 )

Looks like nrpe package version from 16.04 offical repositories is a lot
older ( 2.x.x ) than the current Nagios supported version ( 3.x)

I fixed my issue by compiling NRPE manually.
The process is very well documented by Nagios Support Team:
https://support.nagios.com/kb/article/nrpe-how-to-install-nrpe-8.html

-> Don`t forget to check and validate your backups, in case something
goes wrong.)

1 - sudo apt remove nagios-nrpe-server
2 - sudo apt autoremove
3 - sudo cd /tmp
4 - sudo wget 
http://assets.nagios.com/downloads/nagiosxi/agents/linux-nrpe-agent.tar.gz
5 - sudo tar xzf linux-nrpe-agent.tar.gz
6 - cd linux-nrpe-agent
7 - sudo ./fullinstall

The ./fullinstall script will warn you that it should be run on a clean system.
After it finishes compiling and seting up nrpe and xinetd, it will also ask you 
to authorize your Nagios Server IP to Query Local NRPE.

After that, you can go to /usr/local/etc/nagios/nrpe.cfg, adjust your checks 
and restart xinetd 
(service xinetd restart)

Wait or force your Nagios Server to re-check monitored stuff and it
should work as expected.

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https://bugs.launchpad.net/bugs/1782650

Title:
  nrpe plugin in bionic fails with "Error - Could not complete SSL
  handshake"

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