from subprocess import check_output, STDOUT
shell_command = '''sudo blkid | grep 'uuid' | cut -d " " -f 1 | tr -d ":"'''
output = check_output(shell_command, shell=True, stderr=STDOUT,
                      universal_newlines=True).rstrip('\n')
btw, it returns nothing on my system unless grep -i is used. In the latter case it returns devices. If it is your intent then you could use different command:
from subprocess import check_output
devices = check_output(['sudo', 'blkid', '-odevice']).split()
  I'm trying not to use shell=True
It is ok to use shell=True if you control the command i.e., if you don't use user input to construct the command. Consider the shell command as a special language that allows you to express your intent concisely (like regex for string processing). It is more readable then several lines of code that do not use shell:
from subprocess import Popen, PIPE
blkid = Popen(['sudo', 'blkid'], stdout=PIPE)
grep = Popen(['grep', 'uuid'], stdin=blkid.stdout, stdout=PIPE)
blkid.stdout.close() # allow blkid to receive SIGPIPE if grep exits
cut = Popen(['cut', '-d', ' ', '-f', '1'], stdin=grep.stdout, stdout=PIPE)
grep.stdout.close()
tr = Popen(['tr', '-d', ':'], stdin=cut.stdout, stdout=PIPE,
           universal_newlines=True)
cut.stdout.close()
output = tr.communicate()[0].rstrip('\n')
pipestatus = [cmd.wait() for cmd in [blkid, grep, cut, tr]]
Note: there are no quotes inside quotes here (no '" "', '":"'). Also unlike the previous command and commands.getoutput(), it doesn't capture stderr.
plumbum provides some syntax sugar:
from plumbum.cmd import sudo, grep, cut, tr
pipeline = sudo['blkid'] | grep['uuid'] | cut['-d', ' ', '-f', '1'] | tr['-d', ':']
output = pipeline().rstrip('\n') # execute
See How do I use subprocess.Popen to connect multiple processes by pipes?
     
    
grep 'uuid' | cut -d " " -f 1 | tr -d ":"could be replaced with a single command:awk '/uuid/{print gsub(":", "", $1)}'