You may use sphinx-argparse extension. It does not use output of argparse help, but it instead introspects argparse parser itself and provides proper sphinx markup for both positional arguments and options, formatting them as definition list with proper labels.
Sub-commands are also easily handled.
http://sphinx-argparse.readthedocs.org/en/latest/
It will also cover you needs in:
plan at some point to switch to autogenerated output