This python script will do what you want.
Copy the files to a new Folder on your Desktop (untitled folder on My Desktop in the script below).
Save As the Excel File to a CSV File (Book1.csv on My Desktop in the script below).
Run the script in Terminal, and the files in untitled folder should be renamed)
#!/usr/bin/python
import csv
import os
# Change to Directory with files (Be safe, Copy files to a new Folder)
os.chdir('/Users/Tony/Desktop/untitled folder')
# Rename from name in col 1 to name in col 2 in CSV File)
with open('/Users/Tony/Desktop/Book1.csv') as f:
lines = csv.reader(f)
for line in lines:
try:
os.rename(line[0], line[1])
except:
print(line[0] + ': File not found')