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