Adobe Acrobat Pro
If you have a copy of Adobe Acrobat Pro, you can test a PDF for accessibility using their accessibility checker. If you don't, the software is not free and it is not cheap, so the little devil image is happy. As of 2017, Adobe Acrobat is the only tool to correct PDFs.
PDF Accessibility Checker (PAC) 2.0
This tool is free, so the little devil image is sad. PAC 2.0 tests a PDF to pass PDF/UA standards. Go to PAC 2.0 download Web page. Unfortunately, you can't fix a PDF with PAC 2.0. There are a few a errors that you will likely get. My opinion is to leave two of them until the PDF/UA standards are followed more widely.
- alternative description missing for an annotation on a hyperlink
- a missing PDF/UA identifier
The "using a font that isn't embedded" error is easy to fix with the Adobe Acrobat Preflight Tool. In PAC 2.0, there is a button for reading order and another for structure because human intervention is needed. PAC 2.0 can detect a structure, but not if it is logical.
Sometimes We just need a Human to Decide
If you pass when you run PAC 2.0 on your document, there are still some items that you need to check. For a PDF that has minimum accessibility (level A), the following needs checked by you.
- Does the alternative text for images describe the purpose of the image?
Yes? Go to the next question.
No? Then back to the drawing board
- Is color alone used to convey meaning (if archival, note in metadata? help...)?
Yes? Go to the next question.
No? Then back to the drawing board 
- Can you tab to and away from all hyperlinks and does the order make sense?
Yes? Go to the next question.
No? Then back to the drawing board
- Do you use heading PDF tags?
Yes? Go to the next question.
No? Then back to the drawing board
- Does the title (attribute/field, not the name of the file) tell the document's purpose?
Yes? Go to the next question.
No? Then back to the drawing board
- Can you read the hyperlink text and know where the hyperlink leads?
Yes? Consider level AA.
No? Then back to the drawing board
I'm a rockstar and I want to try for level AA
Okay rockstar, try this for additional criteria for level AA.
- Do all background and foreground colors pass this level using Colour Contrast Analyser (CCA)? Go to CCA download Web page.
Yes? Go to the next question.
No? Then back to the drawing board
- Are the headings unique and descriptive enough to describe the purpose of the section?
Yes? Go to the next question.
No? Then back to the drawing board
- Can you tell visually when a hyperlink is selected by the keyboard?
Yes? Go to the next question.
No? Then back to the drawing board 
- If there are any excerpts in a different language than the default language, is there a PDF tag present?
Yes? Go to the next question.
No? Then back to the drawing board
- Are there bookmarks and either page numbers or running headings?
Yes? Go to the next question.
No? Then back to the drawing board
- Does the same hyperlink text lead to the same URL and vice versa?
Yes? Go to the next question.
No? Then back to the drawing board
*devil image adapted from an image created by UnreifeKirsche
*surprised smiley face by OverlordQ
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