PDF Dark is a free browser-based tool for recoloring PDFs. Choose a theme (Midnight, Sepia, Solarized or OLED), adjust the darkness and warmth sliders, and set how images are handled: Original, Auto or Invert. It outputs a new PDF with the colors changed inside the file.
The page says it is free and that your file never leaves the browser. It works on mobile, though large files may be slow or fail on phones. The interface is available in English, Espanol, Portugues and Deutsch.
PDF Dark was built so people can change a PDF's page colors and save the result without uploading the document to a server.