I have looked into this issue quite extensively. Python-sqlparse is a non validating parser which is not really what you need. The examples in antlr need a lot of work to convert to a nice ast in python. The sql standard grammers are here, but it would be a full times jobs worth to convert them yourself and it is likely that you would only need a subset of them i.e no joins. You could try looking at the gadfly (a python sql database) as well, but I avoided it as they used there own parsing tool.
For my case I only essentially needed a where clause. I tryed booleneo (a boolean expression parser) written with pyparsing but ended up using pyparsing from scratch. The first link in the reddit post of Mark Rushakoff gives a sql example using it. Whoosh a full text search engine also uses it but I have not looked at the source to see how.
Pyparsing is very easy to use and you can very easily customize it to not be exactly the same as sql (most of the syntax you will not need). I did not like ply as it uses some magic using naming conventions.
In short give pyparsing a try, it will be most likely be powerful enough to do what you need and the simple integration with python (with easy callbacks and error handling) will make the experience pretty painless.