In order to avoid rate limit, you can/should wait before the next follower page request. Looks hacky, but works:
import time
import tweepy
auth = tweepy.OAuthHandler(..., ...)
auth.set_access_token(..., ...)
api = tweepy.API(auth)
ids = []
for page in tweepy.Cursor(api.followers_ids, screen_name="McDonalds").pages():
ids.extend(page)
time.sleep(60)
print len(ids)
Hope that helps.