For Firefox Python:
The Firefox Self-signed certificate bug has now been fixed: accept ssl cert with marionette firefox webdrive python splinter
"acceptSslCerts" should be replaced by "acceptInsecureCerts"
from selenium import webdriver
from selenium.webdriver.common.desired_capabilities import DesiredCapabilities
from selenium.webdriver.firefox.firefox_binary import FirefoxBinary
caps = DesiredCapabilities.FIREFOX.copy()
caps['acceptInsecureCerts'] = True
ff_binary = FirefoxBinary("path to the Nightly binary")
driver = webdriver.Firefox(firefox_binary=ff_binary, capabilities=caps)
driver.get("https://expired.badssl.com")