Michael's right, by far the easiest way is to download CSVs from the bank however, from my clients' experiences, this isn't always possible, in that some banks only allow downloads going back so far.
There are several software offerings around designed specifically to take PDF statements and convert them to CSVs however they tend to be used by accountants who may make use of them regularly and may not be that cheap. For a one-off cost you can get Able2Extract - http://www.investintech.com/prod_a2e.htm - which I've used for years to convert PDFs to Excel & Word.
I've also been using Nuance PDF converter - http://www.nuance.co.uk/for-business/by-solution/pdf/index.htm - which mimics Adobe's PDF writer (Acrobat), is a lot cheaper and, I've found, works much better.
It might be you only need to use it once but it can still be worth the cost if to manually enter the transactions would take you days.