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You can use rasterio to interface with NumPy arrays. To read a raster to an array:

import rasterio

with rasterio.open('/path/to/raster.tif', 'r') as ds:
    arr = ds.read()  # read all raster values

print(arr.shape)  # this is a 3D numpy array, with dimensions [band, row, col]

This will read everything into a 3D numpy array arr, with dimensions [band, row, col].

Here is an advanced example to read, edit a pixel, then save it back to the raster:

with rasterio.open('/path/to/raster.tif', 'r+') as ds:
    arr = ds.read()  # read all raster values
    arr[0, 10, 20] = 3  # change a pixel value on band 1, row 11, column 21
    ds.write(arr)

The raster will be written and closed at the end of the "with" statement.