That's sad, but unfortunately not that rare. Making a Lisp readable is not as easy as doing so in Python.
In my experience, Lisp code written by an experienced lisper who cares about readability can often be much more readable than well-written Python (assuming equal levels of proficiency in their respective languages). On the other hand, the number of ways you could destroy the readability of Lisp source is endless, they are always close by, and are even context-dependent. Beginners or people without the focus on readability use those ways rather liberally.
The situation is the exact opposite: Python defines the lower bound on the code readability ("Readability counts" -> PEP-8 -> linters -> (lately) `black`) while Lisps, in general, don't even have an authoritative PEP-8 equivalent.
On the other hand, Python also has an upper bound on how readable it can be: its syntax is rich, but if you find yourself in a place where it's not rich enough, you're on your own. You could just use the expressive power of the language to hijack the syntax and beat it into shape better suited for your problem, but it will be almost certainly seen as un-Pythonic.
On this point, Lisps have a huge advantage, because you can change the language parser on the fly easily, and you can add whatever syntax sugar you need in a couple of lines of a macro. In other words, Lisps give programmers tools for making their code as readable as they want (and are able to) while at the same time allowing them to write "walls of text" (and honestly, that'd be a very polite way of describing some of the Lisp code I've seen) which - in readability - could be one of the worst among many languages I've seen.
So, what I want to say here is that it's possible - and not that hard - to write readable Lisp code. Unfortunately, a programmer has to both think of readability when writing and have skills to make their ideas on readability into reality.
In effect, yes, there's a lot of Lisp code which is hard to ingest. Some style guides are there or are being created, paredit helps a lot, I'm not aware of any linters yet, but they should start appearing at some point. On the other hand, Lisp code skillfully crafted for readability is rivals (and sometimes surpasses) Python at its best.
I'm not sure what Lisp code you've seen, but I assume it was all of the former kind. This is unfortunate. Without knowing what was it you were reading/working with it's hard to recommend anything, but I found examples in "How to Design Programs" quite readable: https://htdp.org/2019-02-24/part_five.html and there are also other books and Open Source projects with code worth reading, but I'd have to dig through my bookmarks, which I don't have the time for right now, sorry :(
TLDR: Lisps - Schemes, Racket, CL, PicoLisp, Emacs and TXR Lisps to name a few - can be used to write astonishingly readable and to-the-point code, but the languages do absolutely nothing to discourage using them to write the most unreadable mess under the heavens. As for the reasons for this - I've honestly no idea at all.