You can filter all characters from the string that are not printable using string.printable, like this:

>>> s = "some\x00string. with\x15 funny characters"
>>> import string
>>> printable = set(string.printable)
>>> filter(lambda x: x in printable, s)
'somestring. with funny characters'

string.printable on my machine contains:

0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ
!"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c

EDIT: On Python 3, filter will return an iterable. The correct way to obtain a string back would be:

''.join(filter(lambda x: x in printable, s))