[obj.matrix_world @ v.co for v in obj.data.vertices]

coords = np.empty((len(obj.data.vertices), 3), 'f')
obj.data.vertices.foreach_get('co', np.reshape(coords, len(obj.data.vertices) * 3))

np.matrix(obj.matrix_world) @ coords

ValueError: shapes (4,4) and (8,3) not aligned: 4 (dim 1) != 8 (dim 0)

for co in coords:
    np.matrix(obj.matrix_world) @ co

ValueError: shapes (4,4) and (3,) not aligned: 4 (dim 1) != 3 (dim 0)