Preamble
It seems that the format of the data can be summarized as: white space anywhere; open parenthesis followed by a sequence of one or more plain integers (no signs, no decimal points) separated by commas and terminated by a close parenthesis.  Alternatively, there could be zero integers between ( and ).
The data must be processed using sscanf(); there is no stated rule about a single call to sscanf().  One of the advantages of using sscanf() over the file I/O alternatives (scanf(), fscanf(), etc) is that you can retry a scan if necessary.
Note that the scanf() family does not handle 'optional item' very well.  White space is mostly trivial — all conversion specifiers except %c, %[…] (scan sets) and %n skip leading white space, and a white space character in a format string matches zero or more white space characters in the input.
Code
The function string_analyzer() does the job; it has a modestly complex interface because it does no I/O itself — it analyzes the string and adds the numbers to an array structure that is passed into the function.  It also sets a message that tells the caller a bit about what went wrong.  The other functions are support functions (for the struct int_array type) and the test harness (main() plus test_string_analyzer()).
#include <assert.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
struct int_array
{
    char   *base;
    size_t  maxlen;
    size_t  curlen;
};
static void dump_int_array(const char *tag, const struct int_array *array);
static void add_to_int_array(struct int_array *array, int data);
static void free_int_array(struct int_array *array);
static void test_string_analyzer(const char *str);
static int string_analyzer(const char *str, struct int_array *array, char **msg)
{
    int offset;
    int length = strlen(str);
    int data;
    char trailer;
    if (sscanf(str, " ( %[)] %n", &trailer, &offset) == 1)
    {
        /* Empty list */
        assert(trailer == ')');
        if (offset == length)
        {
            *msg = "it is an empty list";
            return 0;
        }
        else
        {
            *msg = "it has extra characters after an empty list";
            return -1;
        }
    }
    if (sscanf(str, " ( %d %c%n", &data, &trailer, &offset) != 2 ||
        (trailer != ',' && trailer != ')'))
    {
        *msg = "it does not start correctly";
        return -1;
    }
    add_to_int_array(array, data);
    if (trailer == ')' && offset == length)
    {
        *msg = "it is valid";
        return 0;
    }
    const char *source = str + offset;
    while (sscanf(source, "%d %[,)] %n", &data, &trailer, &offset) == 2)
    {
        add_to_int_array(array, data);
        length = strlen(source);
        if (trailer == ')' && offset == length)
        {
            *msg = "it is valid";
            return 0;
        }
        else if (trailer == ')')
        {
            *msg = "it does not end correctly";
            return -1;
        }
        source += offset;
    }
    *msg = "it is incorrectly formatted";
    return -1;
}
int main(void)
{
    const char *samples[] =
    {
        /* Valid */
        " (3, 2, 4,5, 10 )",
        " ( 4 , 6 ) ",
        "(4)",
        "()",
        /* random -n 15 10 99 | commalist -t -B 8 -b '"( ' -T ' )",' */
        "( 65, 83, 81, 60, 61, 23, 48, 89, 67, 27, 73, 25, 92, 13, 67 )",
        /* Invalid */
        " (3,2, ",
        "3,2",
        " (3,2,1) apathy",
        " () apathy",
        " (3,X,1)",
        " (3X,1)",
    };
    enum { NUM_SAMPLES = sizeof(samples) / sizeof(samples[0]) };
    for (int i = 0; i < NUM_SAMPLES; i++)
        test_string_analyzer(samples[i]);
    return 0;
}
static void test_string_analyzer(const char *str)
{
    struct int_array array = { 0, 0, 0 };
    char *msg = 0;
    printf("Analyzing [%s]\n", str);
    int rc = string_analyzer(str, &array, &msg);
    if (rc == 0)
        printf("String '%s' OK: %s\n", str, msg);
    else
        printf("String '%s' is misformatted: %s\n", str, msg);
    dump_int_array("List contents", &array);
    free_int_array(&array);
}
static void dump_int_array(const char *tag, const struct int_array *array)
{
    int length = printf("%s (%zu): ", tag, array->curlen);
    const char *pad = "";
    for (size_t i = 0; i < array->curlen; i++)
    {
        length += printf("%s%d", pad, array->base[i]);
        pad = ", ";
        if (length >= 64)
        {
            pad = "    ";
            length = 0;
            putchar('\n');
        }
    }
    if (length > 0)
        putchar('\n');
}
static void add_to_int_array(struct int_array *array, int data)
{
    if (array->curlen >= array->maxlen)
    {
        assert(array->curlen == array->maxlen);
        size_t newlen = array->maxlen * 2 + 2;
        void  *newarr = realloc(array->base, newlen * sizeof(array->base[0]));
        if (newarr == NULL)
        {
        }
        array->base = newarr;
        array->maxlen = newlen;
    }
    array->base[array->curlen++] = data;
}
static void free_int_array(struct int_array *array)
{
    free(array->base);
    array->base = 0;
    array->maxlen = 0;
    array->curlen = 0;
}
Sample output:
Analyzing [ (3, 2, 4,5, 10 )]
String ' (3, 2, 4,5, 10 )' OK: it is valid
List contents (5): 3, 2, 4, 5, 10
Analyzing [ ( 4 , 6 ) ]
String ' ( 4 , 6 ) ' OK: it is valid
List contents (2): 4, 6
Analyzing [(4)]
String '(4)' OK: it is valid
List contents (1): 4
Analyzing [()]
String '()' OK: it is an empty list
List contents (0): 
Analyzing [( 65, 83, 81, 60, 61, 23, 48, 89, 67, 27, 73, 25, 92, 13, 67 )]
String '( 65, 83, 81, 60, 61, 23, 48, 89, 67, 27, 73, 25, 92, 13, 67 )' OK: it is valid
List contents (15): 65, 83, 81, 60, 61, 23, 48, 89, 67, 27, 73, 25
    92, 13, 67
Analyzing [ (3,2, ]
String ' (3,2, ' is misformatted: it is incorrectly formatted
List contents (2): 3, 2
Analyzing [3,2]
String '3,2' is misformatted: it does not start correctly
List contents (0): 
Analyzing [ (3,2,1) apathy]
String ' (3,2,1) apathy' is misformatted: it does not end correctly
List contents (3): 3, 2, 1
Analyzing [ () apathy]
String ' () apathy' is misformatted: it has extra characters after an empty list
List contents (0): 
Analyzing [ (3,X,1)]
String ' (3,X,1)' is misformatted: it is incorrectly formatted
List contents (1): 3
Analyzing [ (3X,1)]
String ' (3X,1)' is misformatted: it does not start correctly
List contents (0):