According to CISCO-TC MIB, CiscoNetworkAddress is actually an octet string. There are many ways to turn octet string into a DDN. For example, with ipaddress module from Python 3 stdlib:
>>> from pysnmp.hlapi import OctetString
>>> ip = OctetString(hexValue='ac141315') # this is what you have
>>>
>>> ipaddress.IPv4Address(ip.asOctets())
IPv4Address('172.20.19.21')
Or you can turn it into SNMP SMI IP address:
>>> from pysnmp.hlapi import IpAddress
>>> IpAddress(ip.asOctets()).prettyPrint()
'172.20.19.21'
Also, you could get a sequence of integer octets right from your existing object:
>>> ip.asNumbers()
(172, 20, 19, 21)
Keep in mind, that CiscoNetworkAddress is designed to hold many different address types, not just IPv4. So you should probably apply the IPv4 conversion only when it's actually IPv4 address.