But is it possible to pass query parameter to extract only certain items from the list , Lets say for example extract items where Field named ID is less than 10. Any insight would be helpful.

Here is a generic non-answer: sure anything is possible

It depends on what the SharePoint api supports (this means you do the research, or ask on SharePoint forum)

It also depends on what your soap toolkit supports, whether its something easy and out of the box, or something you have to work a little harder for ...

It depends

It always comes down to resources, having the correct docs, having a question focused enough to be answerable (more than a wish or a goal), having access to a demo/testing server you can develop against ...

Happy hunting