Something like this should work:
import lxml.etree as et
ns = {"atom": "http://www.w3.org/2005/Atom"}
tree = et.fromstring(xml)
for node in tree.xpath('//atom:entry', namespaces=ns):
print node
See also http://lxml.de/xpathxslt.html#namespaces-and-prefixes.
Alternative:
for node in tree.xpath("//*[local-name() = 'entry']"):
print node