Your regex doesn't work because you are looking for a number at the beginning of the line, but your line starts with a "[" character. You could grab all the contents between the parens, then split on comma:

use warnings;
use strict;
use Data::Dumper;

my @actionData;
while (my $line = <DATA>) {
    if ( $line =~ /action\(([^)]+)\)/ ) {
        my @nums = grep { $_ != 0 } split /,/, $1;
        push @actionData, @nums;
    }
}

print Dumper(\@actionData);

__DATA__
[AHB_REPORTER][INFO]: action(62,1,0,0,0,0,5,53,9,0,190)D:/XYZ/reg/Test
+s/Mcu/A_test.cCALL: (null)
[download]

outputs:

$VAR1 = [
          62,
          1,
          5,
          53,
          9,
          190
        ];
[download]