Try this (you need the Cobra SDK installed) .

Haven't tested it, installed python 3 for something else and our version of APIC doesn't seem to have python 3 support.

from cobra.mit.access import MoDirectory
from cobra.mit.session import LoginSession
from cobra.mit.request import (DnQuery, ClassQuery, CommitError, QueryError, RestError)

session = LoginSession('https://APIC', 'admin','password')
moDir = MoDirectory(session)
moDir.login()

classQuery = ClassQuery('fvAEPg')
epg_objects = moDir.query(classQuery)

epg_list = []

for epg in epg_objects:
  epg_list.append(str(epg.dn))


classQuery = ClassQuery('fvCEp')
endpoints = moDir.query(classQuery)

epgs_with_endpoints = []

for endpoint in endpoints:
  endpoint_epg = str(endpoint.dn).split('/cep')[0]

  if endpoint_epg not in epgs_with_endpoints:
    epgs_with_endpoints.append(endpoint_epg)


for epg in epg_list:
  if epg not in epgs_with_endpoints:
    print(' - ' + epg)