Unfortunately, with IPv6 you are stuck doing your own TCP build. The good news is that you are only interested in URL data, which should (in general) be in one or two packages.
You must get away from using pylibpcap for this. You want to use setfilter on your pcap object to make sure that you only look at TCP traffic. As you move forward in your pcap loop, you will apply some HTTP regular expressions to the payload. If you have something that looks like HTTP traffic, and try to parse the header to get the URL data. Hope you get the full url with line breaks until the end of the package. If not, you will have to do a small TCP build.
, socket.inet_ntop socket.getaddrinfo, IPv6.