Python regex to match VT100 escape sequences

I'm writing a Python program that logs terminal interaction (similar to the script program), and I'd like to filter out the VT100 escape sequences before writing to disk. I'd like to use a function like this:

def strip_escapes(buf):
    escape_regex = re.compile(???) # <--- this is what I'm looking for
    return escape_regex.sub('', buf)

What should go in escape_regex?