I’m a happy user of PLY. It is a pure-Python implementation of Lex & Yacc, with lots of small niceties that make it quite Pythonic and easy to use. Since Lex & Yacc are the most popular lexing & parsing tools and are used for the most projects, PLY has the advantage of standing on giants’ shoulders. A lot of knowledge exists online on Lex & Yacc, and you can freely apply it to PLY.
PLY also has a good documentation page with some simple examples to get you started.
For a listing of lots of Python parsing tools, see this.