If I knew your hardware set up, I.E. Arduino with ethernet shield? Wifi? Using a PIC instead?
But generally yes, on the python side, regular sockets would be fine, and probably be best. Justs set up a socket listening on what ever port you want and handle the data by hand. Such as receive the data and parse and shit. Not hard really, your basically creating your own protocol. On the hardware side, grab the rfid data, pack it how ever you want, connect to the python server you created, and send the data.
There could be easier ways, but unless I know your setup, I can't suggest anything.