I also couldn’t find any simple tools available so ending up making my own migration utility. Since others are having similar problems, I decided to release it for public use.
You can grab it here: Drupal to WordPress Migration Tool
https://anothercoffee.net/the-drupal-to-wordpress-migration-tool/
It supports migrating content from Drupal 6 to WordPress 3.5 but I’m planning to add Drupal 7 support soon.
Keep in mind that it’s currently optimized for my typical Drupal set-up. It does what I need just fine but I’m not sure how well it will work with other Drupal installations. Still, I think it should get you most of the way and you can always tweak it if necessary. The code is in PHP so should work in most MySQL and PHP hosting environments.
It would be great if anyone who does end up using it could send me feedback on how to improve it. I figure that I should get the Drupal 6 export working pretty well first before moving over to Drupal 7.