For python2 and python3 both, you can do as follows, where I assume if the value of p is missing, I am assuming sys.maxsize value, which will ensure that if we have missing values for p, they are always at the end of the list
import sys
a = [
   {'p': 3, 'id': 'ab1'},
   {'p': 10, 'id': 'ab2'},
   {'p': 5, 'id': 'ab3'},
   {'p': 8, 'id': 'ab4'},
   {'id': 'ab5'}
]
print(sorted(a, key=lambda i: i.get('p', sys.maxsize)))
Which will give you
[{'p': 3, 'id': 'ab1'}, {'p': 5, 'id': 'ab3'}, {'p': 8, 'id': 'ab4'}, {'p': 10, 'id': 'ab2'}, {'id': 'ab5'}]
Another solution if comparing to sys.maxsize is overkill, is to separate out the dictionaries without the key p, sort the remaining dictionary which contain the key p, and then extend it by attaching the non p key dictionaries like so. This also avoids us from providing a default value for p in item.get()
import sys
a = [
   {'p': 3, 'id': 'ab1'},
   {'p': 10, 'id': 'ab2'},
   {'p': 5, 'id': 'ab3'},
   {'p': 8, 'id': 'ab4'},
   {'id': 'ab5'}
]
#Dictionaries with key p
p_items = [item for item in a if 'p' in item.keys()]
#Dictionaries not with key p
non_p_items = [item for item in a if 'p' not in item.keys()]
#Sort the p-key dictionaries
result = sorted(p_items, key=lambda i: i.get('p'))
#Attach non p-key dictionay items at end
result.extend(non_p_items)
print(result)