This isn't part of numpy, but it will work with numpy.ndarray objects. A numpy.matrix can be converted to a numpy.ndarray and a numpy.ndarray can be converted to a numpy.matrix.
from sklearn.metrics import mean_squared_error
mse = mean_squared_error(A, B)
The standard numpy methods for calculation mean squared error (variance) and its square root (standard deviation) are numpy.var() and numpy.std(), see here and here. They apply to matrices and have the same syntax as numpy.mean().
I suppose that the question and the preceding answers might have been posted before these functions became available.