Now pyPDF2 support encryption, according to this answer, it may be implemented like this:
import os
import PyPDF2
from PyPDF2 import PdfFileReader
fp = open(filename)
pdfFile = PdfFileReader(fp)
password = "mypassword"
if pdfFile.isEncrypted:
    try:
        pdfFile.decrypt(password)
        print('File Decrypted (PyPDF2)')
    except:
        command = ("cp "+ filename +
            " temp.pdf; qpdf --password='' --decrypt temp.pdf " + filename
            + "; rm temp.pdf")
        os.system(command)
        print('File Decrypted (qpdf)')
        fp = open(filename)
        pdfFile = PdfFileReader(fp)
else:
    print('File Not Encrypted')
Note that this code, use pyPDF2 by default and failback to qpdf in case of issue.