This is an easy to use tool to audit your cloud environment, Scout Suite, from nccgroup. It has support for several cloud providers, but I have only tried it with AWS.

The tool is written in python and is started from the terminal like this:

# requires that the profile audit has been configured
python scout.py aws --profile audit

When running the program it will give feedback in the console and finally produce a HTML report when it's done.

This is also nice:

Use of Scout Suite does not require AWS users to complete and submit the AWS Vulnerability / Penetration Testing Request Form. Scout Suite only performs API calls to fetch configuration data and identify security gaps, which is not considered security scanning as it does not impact AWS' network and applications.

Checkout their wiki page to see how to use it with AWS. Don't miss the minimal privileges policy they have defined which is great to apply on the account that is used when running the tool.