$array = array(
    '1' => array('id' => '123'),
    '2' => array('id' => '22'),
    '3' => array('id' => '133'),
    '4' => array('id' => '143'),
    '5' => array('id' => '153'),
);

array_walk_recursive($array, function($v, $k) use (&$result) {
    $result[] = $v;
});