It's a breeze, using
qpdf:
$ qpdf --verbose --decrypt --password=PASSWORD encrypted_file.pdf decrypted_file.pdf
qpdf: wrote file decrypted_file.pdf
$
To decrypt several files at once, you can use your shell's facilities:
$ for i in *.pdf; do qpdf --verbose --decrypt --password=PASSWORD ${i} ${i/.pdf/_decrypted.pdf} ; done
qpdf: wrote file secrets_decrypted.pdf
qpdf: wrote file shhh_moresecrets_decrypted.pdf
$
If you don't like command line tools, you can also use
PDFsam - the Basic edition is FOSS, available under the GNU Affero GPL.