Fabric is a good bet. From the home page,
Fabric is a Python (2.5 or higher) library and command-line tool for streamlining the use of SSH for application deployment or systems administration tasks.
A quick example,
>>> from fabric.api import run, env, cd, settings, hide, show
>>> env.host_string='xxx.xxx.com'
>>> env.user='user'
>>> env.password='password'
>>> run('ls -lart')