Pandas has a function that does this. It returns an iterator as you mentioned.
In [1]: import pandas
In [2]: pandas.core.common.flatten([[[1, 2, 3], [4, 5]], 6])
Out[2]: <generator object flatten at 0x7f12ade66200>
In [3]: list(pandas.core.common.flatten([[[1, 2, 3], [4, 5]], 6]))
Out[3]: [1, 2, 3, 4, 5, 6]