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You have O(n) in:
a = deque(a)
In order to avoid this, you should use a deque from the beginning like:
from collections import deque
def array_left_rotation(a, n, k):
n, k = map(int, input().strip().split(' '))
a = deque(map(int, input().strip().split(' ')))
array_left_rotation(a, n, k);
print(*a, sep=' ')
And array_left_rotation only takes O(k) instead of O(n).
Note that a is pased by reference, so there is no need to return anything, but this could be an issue for some user cases, for this particular problem, it works.