I have just found the solution for my purpose using jq tool (https://github.com/stedolan/jq). I found it to be a quite powerful tool for managing JSON data from command line.
For those who are looking for similar solution, here is the example of mine.
root@deeppurple:~$ bitcoin-cli getpeerinfo | jq -r '.[] | [.addr, .services, (.version|tostring), .subver] | join(",")'
The output for that is like the following:
[2001:41d0:2:af72::1]:8333,000000000000040d,70015,/Satoshi:0.17.0/
[2a01:4f8:10a:37ee::2]:25424,0000000000000000,70015,/Satoshi:0.15.1/
88.99.167.186:14287,0000000000000000,70015,/Satoshi:0.15.1/
[2a01:4f8:141:4d7::2]:8333,000000000000040d,70015,/Satoshi:0.17.0/
162.209.88.174:8333,000000000000040d,70015,/Satoshi:0.16.3/
[2a03:b0c0:2:d0::4bc:2001]:38160,0000000000000000,70015,/bitnodes.earn.com:0.1/
188.166.69.73:45169,0000000000000000,70015,/bitnodes.earn.com:0.1/
.
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