В зависимости от того, как вы хотите обрабатывать крайние случаи, это может сработать:
def points_between(p1, p2):
xs = range(p1[0] + 1, p2[0]) or [p1[0]]
ys = range(p1[1] + 1, p2[1]) or [p1[1]]
return [(x,y) for x in xs for y in ys]
print points_between((1,1), (5,1))
# [(2, 1), (3, 1), (4, 1)]
print points_between((5,6), (5,12))
# [(5, 7), (5, 8), (5, 9), (5, 10), (5, 11)]