As the $q$-analog of Chebyshev polynomials, $q$-Hermite polynomials form a cornerstone in the family of $q$-orthogonal polynomials, which play a fundamental role in quantum algebra and mathematical physics. Recently, Andrews obtained a series of Rogers-Ramanujan type identities by constructing Bailey pairs from Chebyshev polynomials. In this paper, by applying the expansion formula of Chebyshev polynomials in terms of $q$-Hermite polynomials and using the orthogonality relations, we derive a series of Rogers-Ramanujan type identities on double sums, which further generalized the known results due to Andrews, Shi, Sun and Yao.