[00:02.02]，[00:02.342]，[00:03.2]，[00:03.42]，[00:04.02]，[00:05.342]，
如果是包含多个中括号的字符串，可以考虑先根据“，”拆分成数组，然后再去掉中括号即可。代码如下：
var test = "[00:02.02]，[00:02.342]，[00:03.2]，[00:03.42]，[00:04.02]，[00:05.342]";
var testArr = test.split("，");
for(var i=0;i<testArr.length;i++){
var te = testArr[i];
console.log(te.substring(1,te.length-1));
}
<body>
<p id="demo"></p>
<script>
function getStr(str) {
if (str == "" || str == null || str == undefined) { // "",null,undefined
return "";
}
var subArr = str.split('，');
var str = "";
var strTemp = "";
for (var num = 0; num < subArr.length; num++) {
console.log(subArr[num]);
strTemp = subArr[num].substr(1, subArr[num].length);
strTemp = strTemp.substr(0, subArr[num].length - 2)
str += strTemp+",";
//console.log(strTemp);
}
return str;
}
document.getElementById("demo").innerHTML = getStr("[00:02.02]，[00:02.342]，[00:03.2]，[00:03.42]，[00:04.02]，[00:05.342]");
</script>
</body>