The data is UTF-8 encoded bytes escaped with URL quoting, so you want to decode, with urllib.parse.unquote(), which handles decoding from percent-encoded data to UTF-8 bytes and then to text, transparently:
from urllib.parse import unquote
url = unquote(url)
Demo:
>>> from urllib.parse import unquote
>>> url = 'example.com?title=%D0%BF%D1%80%D0%B0%D0%B2%D0%BE%D0%B2%D0%B0%D1%8F+%D0%B7%D0%B0%D1%89%D0%B8%D1%82%D0%B0'
>>> unquote(url)
'example.com?title=????????+??????'
The Python 2 equivalent is urllib.unquote(), but this returns a bytestring, so you'd have to decode manually:
from urllib import unquote
url = unquote(url).decode('utf8')