simpler solution - just treat internal hash as a new hash and add one more filter. The query that helped me:
$ docker network inspect bridge|jq '.[].Containers'
{
  "35c9e1273c43db01c45b5f43f6999d04c18beff3996ea09fb8b87a8b635c38ff": {
    "Name": "nginx",
    "EndpointID": "a6e788d6f90eb14df2321a2eb02517f0862c1fe7fe50c02f2b8c103c0c79cb6b",
    "MacAddress": "02:42:ac:11:00:02",
    "IPv4Address": "172.17.0.2/16",
    "IPv6Address": ""
  },
  "b46c157cec243969f9227251dfd6fa65b7a904e145df80a63f79d4dc8b281355": {
    "Name": "sweet_gates",
    "EndpointID": "a600d9c1ee35b9f7db31249ae8f589c202e0b260e10a394757a88bfd66b5b42f",
    "MacAddress": "02:42:ac:11:00:03",
    "IPv4Address": "172.17.0.3/16",
    "IPv6Address": ""
  }
}
As I needed only couple of fields, add to above .json one more query:
$ docker network inspect bridge|jq -jr '.[].Containers[]|.IPv4Address, "\t", .Name, "\n"'
172.17.0.2/16   nginx
172.17.0.3/16   sweet_gates