In this paper, we derive generalized Bern-Carrasco-Johansson relations forcolor-ordered Yang-Mills amplitudes by imposing gauge invariance conditions anddimensional reduction appropriately on the new discovered graphic expansion ofEinstein-Yang-Mills amplitudes. These relations are also satisfied bycolor-ordered amplitudes in other theories such as color-scalar theory,bi-scalar theory and nonlinear sigma model (NLSM). As an application of thegauge invariance induced relations, we further prove that the three types ofBCJ numerators in NLSM , which are derived from Feynman rules, Abelian Z-theoryand Cachazo-He- Yuan formula respectively, produce the same total amplitudes.In other words, the three distinct approaches to NLSM amplitudes are equivalentto each other.