Используя pd.concat :
import pandas as pd
import numpy as np
columns_df1 = ['a','b','c','d']
columns_df2 = ['a','z']
data_df1 = [['abc','def','ghi','xyz'],['abc2','def2','ghi2','xyz2'],['abc3','def3','ghi3','xyz3'],['abc4','def4','ghi4','xyz4']]
data_df2 = [['a','z'],['a2','z2']]
df_1 = pd.DataFrame(data_df1, columns=columns_df1)
df_2 = pd.DataFrame(data_df2, columns=columns_df2)
print(df_1)
print(df_2)
frames = [df_1, df_2]
print (pd.concat(frames))
ВЫВОД:

Edit:
Для замены NaN
значений вы можете использовать pandas.DataFrame.fillna :
print (pd.concat(frames).fillna("NULL"))
Replcae NULL
с чем угодно, например. 0
ВЫВОД:
