Your question is a broad one to give pinpointed answer. Whether you are using Pyridine as a base to neutralize/trap the HCl/HBr forming in the reaction or for any another type of reaction...........?
If you use to trap/neutralize HCl/HBr, from my point of view, you can go with Organic base like Toluene or you can even use alkali bases like NaOH, KOH, or even carbonates like Na2CO3, K2CO3 etc. So you can run your reaction with atleast a little safer chemicals than Pyridine.
Triethylamime can be used in same conditions as a base like pyridine. It is more volative than pyridine (unlike DMF, Dimethylaniline, N-methylpyrrilidone), so it is more easy to turn it out after reaction. And it has not such "pleasant" odour
2,6-lutidine is closest in terms of basicity (proton "scavenging"), 4-N,N-dimethylaminopyridine is both basic and assists in many acylations. Triethylamine is about 2-3 log units stronger base. As mentioned, depends on the purpose for your base.