The First Security scanner for Drupal CMS has been released by Ali Elouafiq, on his Blog. His team develop a tool that will enumerate at least the modules used by Drupal so we can simulate a White Box audit on our private machines.
This small tool is public and accessible to you for use however you please. It may help other auditors or penetration testers do their job faster, Here is a little demonstration. After downloading the script (in python), you simply type:
> python DPScan.py [website url]
You can download Drupal Security Scanner here.