You can first clean json using regex. For cleaning i am splitting json into two parts url_data and download_data .
First step remove the unnecessary double quotes from download_data this regular expression re.sub('"', '', data[data.index(',') + 1 :]) removes the double quotes.
Next add the double quotes to words using regular expression re.sub("(\w+):", r'"\1":', download_data) this will add double quotes around all the words in the json.
import re
import json
data = '{"URL_IN": "http://localhost/","DownloadData": "{\"data\":[{samples:[{t:1586826385724,v:5.000e+000,l:0,s:-1,V:-1},{t:1587576460460,v:0.000e+000,l:0,s:-1,V:-1}]}]}"}'
url_data = data[:data.index(',') + 1]
download_data = re.sub('"', '', data[data.index(',') + 1 :])
data = url_data + re.sub("(\w+):", r'"\1":', download_data)
data = json.loads(data)
res = [(x['t'], x['v']) for x in data['DownloadData']['data'][0]['samples']]
t, v = map(list, zip(*res))
print(t, v)
Output:
[1586826385724, 1587576460460] [5.0, 0.0]