Ideally, you want as few dependencies between classes as possible, since it reduces complexity. A class should only have a dependency to another class if it really needs it.

In your example, the Renderer obviously need to know about Page in order to be able to render it. But it is not really necessary for Page to know about Renderer. So the last option is objectively best:

$renderer->renderPage($page);

(In particual I dislike the first option, since it suggest a page can have only a single renderer. But what if you have a ScreenRenderer and add a PrintRenderer? The same page might be rendered by both.)

Ideally, you want as few dependencies between classes as possible, since it reduces complexity. A class should only have a dependency to another class if it really needs it.

You state Page contains "a set of instructions to a page renderer". I imagine something like this:

renderer.renderLine(x, y, w, h, Color.Black)
renderer.renderText(a, b, Font.Helvetica, Color.Black, "bla bla...")
etc...

So it would be $page->renderMe($renderer), since the Page needs a reference to renderer. 

But alternatively rendering instructions could also be expressed as a data structure rather than direct calls, eg.

[
  Line(x, y, w, h, Color.Black), 
  Text(a, b, Font.Helvetica, Color.Black, "bla bla...")
]

In this case the actual Renderer would get this data structure from the Page and process it by execute the corresponding rendering instructions. With such an approach the dependencies would be reversed - the Page does not need to know about the Renderer, but the Renderer should be provided a Page which it can then render. So option two: $renderer->renderPage($page);

So which is best? The first approach is probably simplest to implement, while the second is much more flexible and powerful, so I guess it depends on your requirements.

If you cannot decide, or you think you might change approach in the future, you can hide the decision behind a layer of indirection, a function:

renderPage($page, $renderer)

The only approach I will not recommend is $page->renderMe() since it suggest a page can have only a single renderer. But what if you have a ScreenRenderer and add a PrintRenderer? The same page might be rendered by both.