a = [['- A B C D E'], ['A 0 2 3 4 5'], ['B 2 0 3 4 5'], ['C 3 3 0 4 5'], ['D 4 4 4 0 5'], ['E 5 5 5 5 0']]
b = [y.split(' ') for x in a for y in x]
import numpy as np
numpy_array = np.array(b)
выход
array([['-', 'A', 'B', 'C', 'D', 'E'],
['A', '0', '2', '3', '4', '5'],
['B', '2', '0', '3', '4', '5'],
['C', '3', '3', '0', '4', '5'],
['D', '4', '4', '4', '0', '5'],
['E', '5', '5', '5', '5', '0']], dtype='<U1')