Is there a way to still get audible alerts of new messages without having any banners or text appear in the lock screen?

I just figured out that you don't get active notifications on your phone if you are using an apple watch. The phone pushes the notifications to the watch. When taking of the watch or turn it off the phone notifies you active again. I didn't find any solution yet to get notifications on both devices, you can either turn off the notification on the watch or leave it on to change between the devices. This goes with all notifications except calls. Hopefully Apple will fix this, it doesn't make any sense for me. I would like to be in charge of choosing the device i wanna use, in my case both, phone and watch.

Settings>Notifications>Messages. Alert Style>None, Show in Lock Screen>Off

Open the Settings app > Notifications > Messages. Scroll down adn turn OFF "View In Lock Screen". You may want to consider setting Alert style to none, but this will not impact what happens when the screen is locked.

Leave the alert style as banner, then.

I have the same issue as noted in the initial post. My notifications are set to alert style = banner, sounds = on, and lock screen display = off... but I do not get a sound notification until I unlock my phone (which kind of defeats the purpose IMHO).

This seems like a defect in iOS 10 to me. A user should be able to receive sound notifications letting them know they have received a message when their phone is locked.

Same thing happening here. Keep missing notifications since iOS 10 update. Any solution yet?

Same problem. Glitch with some update evidently.