import re
text = '[N][C@H]([C])[C](=O)[O]'
print(re.sub(r'\[(\w)]', r'\1', text))
# Or any char other than brackets
print(re.sub(r'\[([^][])]', r'\1', text))
aW1wb3J0IHJlCnRleHQgPSAnW05dW0NASF0oW0NdKVtDXSg9TylbT10nCnByaW50KHJlLnN1YihyJ1xbKFx3KV0nLCByJ1wxJywgdGV4dCkpCiMgT3IgYW55IGNoYXIgb3RoZXIgdGhhbiBicmFja2V0cwpwcmludChyZS5zdWIocidcWyhbXl1bXSldJywgcidcMScsIHRleHQpKQ==