df
   id       list_of_tuples
0  abc-123  [('cat',100,'xyz-123'),('cat',96,'uvw-456')]
1  def-456  [('dog',98,'rst-789'),('dog',97,'opq-123'),('dog',95,'lmn-123')]
2  ghi-789  [('tree',100,'ijk-123')]

df_new
        id       val_1 val_2 val_3
0       abc-123  cat   100   xyz-123
1       abc-123  cat   96    uvw-456
2       def-456  dog   98    rst-789
3       def-456  dog   97    opq-123
4       def-456  dog   95    lmn-123
5       ghi-789  tree  100   ijk-123

df_new = pd.DataFrame(list(chain.from_iterable(df.matches)),columns=['val_1','val_2','val_3']).reset_index(drop=True)
df_new['id'] = np.repeat(df.id.values, df['list_of_tuples'].str.len())