Использование list comprehension
и изменение списка на месте:
lists = [['2018-04-09', 7044.32, 7178.11, 6661.99, 6770.73],
['2018-04-08', 6919.98, 7111.56, 6919.98, 7023.52],
['2018-04-07', 6630.51, 7050.54, 6630.51, 6911.09],
['2018-04-06', 6815.96, 6857.49, 6575.0, 6636.32],
['2018-04-05', 6848.65, 6933.82, 6644.8, 6811.47]]
lists[:] = [[tuple(item.split('-')) if isinstance(item, str) else item for item in sub]
for sub in lists]
lists
[[('2018', '04', '09'), 7044.32, 7178.11, 6661.99, 6770.73],
[('2018', '04', '08'), 6919.98, 7111.56, 6919.98, 7023.52],
[('2018', '04', '07'), 6630.51, 7050.54, 6630.51, 6911.09],
[('2018', '04', '06'), 6815.96, 6857.49, 6575.0, 6636.32],
[('2018', '04', '05'), 6848.65, 6933.82, 6644.8, 6811.47]]