At last I have reached an answer for my question.
And the answer is yes! We can define expander family for the non-regular case.
The most common definition for expanders is for $d$-regular graphs, that's maybe because one of the following two reasons:
1-Most of the constructed expander graphs are Cayley graphs( which are regular)
2-To be able to use Cheeger inequalities.
The original definition of expanders is stated in Recent Progress In General Topology III (definition 9.2).
**Definition 9.2**
A finite graph $G$ is a _$(k, ε)$-expander_ if each vertex of $G$ has valency at most $k$, and $h(G) \geq ε > 0$.
A sequence of finite graphs $\\{G_i\\}$ is called an expander sequence if $|G_i| \rightarrow \infty$ and there exists $k, ε$ such that each $G_i$ is a $(k, ε)$-expander.