From the peepdf homepage:
After downloading the tool Download Page you can just open the command line from any folder on your machine with PDF files in it and type e. g.:
folderWithPeepdfInIt\peepdf.py -l nameOfPdfToanalyse.pdf
You can also create an output file (e. g. output.txt),it will appear in the folder of the PDF you are examining.
folderWithPeepdfInIt\peepdf.py -l nameOfPdfToanalyse.pdf > output.txt
An output might look like this: