刚刚找到答案。。

添加posts_per_page 在参数中为-1.

应该是这样的：

$args = array(
    \'post_type\' => \'lirik_melayu\',
    \'posts_per_page\'=> -1,   // set the limit post to UNLIMITED (-1 is unlimited)
    \'orderby\'  => array( 
            \'ID\' => \'DESC\' ,
        ),
);
$query = new WP_Query( $args );
$query_contents=Array();
while ( $query->have_posts() ) {
    $query->the_post();
    array_push($query_contents,Array(
        "id"=>get_the_ID(),
        "title"=>get_the_title(),
        "url"=>get_permalink(),
    ));
    echo get_the_title()."<br />";
}