Utilitarian@busybox ~$cat tmp/tmp.pl
#!/usr/bin/perl

use strict;
use warnings;
my $prefix='DOC_';
for (<DATA>){
    chomp(my $line=$_);
    print "$line\n" if ($line =~ /^$prefix[0-9]{3}(_|-)[0-9]{3}$/);
}

__DATA__
DOC_001_123
DOC_002_214
DOC_001-548
DOC_001-987
Utilitarian@busybox ~$perl tmp/tmp.pl
DOC_001_123
DOC_002_214
DOC_001-548