Use numpy.concatenate with sum:

print (np.concatenate(a).sum())

print (np.sum(np.concatenate(a)))
32

Performance: Depends of number of nested arrays and number of values in arrays, so best test in real data:

a = np.array([np.arange(5), np.arange(2), np.arange(7)] * 1000) 
#print (a)

In [40]: %timeit np.concatenate(a).sum()
830 µs ± 22.5 µs per loop (mean ± std. dev. of 7 runs, 1000 loops each)

In [41]: %timeit (np.sum(np.concatenate(a)))
835 µs ± 33.5 µs per loop (mean ± std. dev. of 7 runs, 1000 loops each)

#original solution 
In [42]: %timeit sum([np.sum(array) for array in a])
15.3 ms ± 85.9 µs per loop (mean ± std. dev. of 7 runs, 100 loops each)

Another solutions:

In [43]: %timeit sum(np.sum(array) for array in a)
17.4 ms ± 2.27 ms per loop (mean ± std. dev. of 7 runs, 100 loops each)

In [44]: %timeit (sum(np.concatenate(a)))
2.28 ms ± 143 µs per loop (mean ± std. dev. of 7 runs, 100 loops each)