If you want to avoid any extra modules, you can use the subprocess module to run
ssh [host] [command]
and capture the output.
Try something like:
process = subprocess.Popen("ssh example.com ls", shell=True,
stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
output,stderr = process.communicate()
status = process.poll()
print output
To deal with usernames and passwords, you can use subprocess to interact with the ssh process, or you could install a public key on the server to avoid the password prompt.