Notice that this doesn't work in Windows.
The module pxssh does exactly what you want:
For example, to run 'ls -l' and to print the output, you need to do something like that :
from pexpect import pxssh
s = pxssh.pxssh()
if not s.login ('localhost', 'myusername', 'mypassword'):
print "SSH session failed on login."
print str(s)
else:
print "SSH session login successful"
s.sendline ('ls -l')
s.prompt() # match the prompt
print s.before # print everything before the prompt.
s.logout()
Some links :
Pxssh docs : http://dsnra.jpl.nasa.gov/software/Python/site-packages/Contrib/pxssh.html
Pexpect (pxssh is based on pexpect) : http://pexpect.readthedocs.io/en/stable/