The other answers are great for reading a publicly accessible file but, if trying to read a private file that has been shared with an email account, you may want to consider using PyDrive.
There are many ways to authenticate (OAuth, using a GCP service account, etc). Once authenticated, reading a CSV can be as simple as getting the file ID and fetching its contents:
from io import StringIO
from pydrive.auth import GoogleAuth
from pydrive.drive import GoogleDrive
# Assuming authentication has been performed and stored in a variable called gauth
drive = GoogleDrive(gauth)
params = {
'q': f"id='{file_id}' = id and mimeType='text/csv'"
}
# List all files that satisfy the query
file_list = drive.ListFile(params).GetList()
gdrive_csv_file = file_list[0]
input_csv = StringIO(gdrive_csv_file.GetContentString())
df = pd.read_csv(input_csv)