Or if you are already using pandas, You can do it with json_normalize()
like so:
import pandas as pd
d = {'a': 1,
'c': {'a': 2, 'b': {'x': 5, 'y' : 10}},
'd': [1, 2, 3]}
df = pd.json_normalize(d, sep='_')
print(df.to_dict(orient='records')[0])
Output:
{'a': 1, 'c_a': 2, 'c_b_x': 5, 'c_b_y': 10, 'd': [1, 2, 3]}