Here's how (on windows): download qpdf (http://qpdf.sourceforge.net/) and run
qpdf.exe -decrypt encrypted.pdf woho.pdf
I made a small batchfile since I never remembered that syntax, # usage:
# decrypt.sh mypdf.pdf
# the decrypted file will be named mypdf.pdf, while the old encrypted is now mypdf.pdf-encrypted.pdf
#
echo pdf to de-secure: $1
read -n 1 -s -p "Press any key to continue"
mv "$1" "$1"-encrypted.pdf
qpdf.exe -decrypt "$1-encrypted.pdf" "$1"
echo encrypted file is now named: $1-encrypted.pdf
echo decrypted file is: $1