More verbose, one dependency, but guarantees consistent output for most inputs and was fun to write:
import re
def format_tel(tel):
    tel = tel.removeprefix("+")
    tel = tel.removeprefix("1")     # remove leading +1 or 1
    tel = re.sub("[ ()-]", '', tel) # remove space, (), -
    assert(len(tel) == 10)
    tel = f"{tel[:3]}-{tel[3:6]}-{tel[6:]}"
    return tel
Output:
>>> format_tel("1-800-628-8737")
'800-628-8737'
>>> format_tel("800-628-8737")
'800-628-8737'
>>> format_tel("18006288737")
'800-628-8737'
>>> format_tel("1800-628-8737")
'800-628-8737'
>>> format_tel("(800) 628-8737")
'800-628-8737'
>>> format_tel("(800) 6288737")
'800-628-8737'
>>> format_tel("(800)6288737")
'800-628-8737'
>>> format_tel("8006288737")
'800-628-8737'
Without magic numbers; ...if you're not into the whole brevity thing:
def format_tel(tel):
    AREA_BOUNDARY = 3           # 800.6288737
    SUBSCRIBER_SPLIT = 6        # 800628.8737
    
    tel = tel.removeprefix("+")
    tel = tel.removeprefix("1")     # remove leading +1, or 1
    tel = re.sub("[ ()-]", '', tel) # remove space, (), -
    assert(len(tel) == 10)
    tel = (f"{tel[:AREA_BOUNDARY]}-"
           f"{tel[AREA_BOUNDARY:SUBSCRIBER_SPLIT]}-{tel[SUBSCRIBER_SPLIT:]}")
    return tel