NVidia’s DALI supports reading TFRecord and MXNet recordIO. The readers are in C++ with a Python interface so it’s probably the most performant option out there.
https://docs.nvidia.com/deeplearning/sdk/dali-developer-guide/docs/examples/dataloading.html 86
I’ve seen a few stand alone pure Python attempts but they’ll be pretty slow as it’s not a task that Python is well suited for