my @data = qw/
    ID12-ABC-5.1
    ID9-ABC-5.1
    ID3-ABC-6.1
    ABC-5.1
    ID12-ABC-5.1.5
    ID15-ABC-6.1
    ABC-6.1
    ID5-ABC-5.1
    ID5-ABC-5.1.5
    ABC-5.1.5
/;

my @sorted = do{
    no warnings 'uninitialized';
    map { $_->[-1] } sort{
        $b->[0] cmp $a->[0] or    # 'ID' component.
        $b->[3] <=> $a->[3] or    # v-string part1.
        $b->[4] <=> $a->[4] or    # v-string part2.
        $b->[5] <=> $a->[5] or    # v-string part3.
        $b->[1] <=> $a->[1] or    # Numeric following 'ID'.
        $b->[2] cmp $a->[2]       # 'ABC' component.
    } map {
        [ 
            m/^ 
                (?:(\p{Alphabetic}+)(\d+)-)? # "ID", then digits.
                (\p{Alphabetic}+)-           # "ABC" component.
                (\d+)                        # v-string part1.
                (?:\.(\d+))?                 # v-string part2.
                (?:\.?(\d+))?                # v-string part3.
            $/x,
            $_
        ]
    } @data;
};

say for @sorted;