On a properly configured site and server with https configured, Ubercart with uc_stripe 7.x-2.x should be PCI SAQ-A compliant since no credit card information passes through your server at all. Further discussion and details are in this issue and others.
Currently 6.x-2.x and 7.x-2.x are available and maintained, although support for 6.x-2.x will be dropped when Drupal 6.x support expires in January, 2016 (see https://www.drupal.org/d6-lts-support)
Note that I (rfay) no longer have a site using this module, so would hope that someone who is active with this will step up and support this module. Contact me if you would like to maintain this module.
This module also has baked in support for the Ubercart Recurring Payments module, using Stripe's built-in Subscription capabilities.
The 6.x-2.x and 7.x-2.x versions use stripe.js to prevent card details from ever hitting the Drupal server, aiming and PCI-DSS compliance. (They do *not* use Stripe's subscription capabilities but instead use uc_recurring.)
Please leave issues in the issue queue if you uncover anything that needs fixing!
For further instructions, see the README.txt included with the module.