is there any way to distribute ios applications outside app store?

There are several possibilities, which probably won’t match your needs:

1. Since last month it’s possible to test apps on a device without the need of a paid membership.
2. There’s a possibility to deploy an app through a service like TestFlight, but this needs either a profile installed on the device (like HockeyApp) or always new build since the old ones expire after 30 days.
3. You could deploy an app with the Enterprise Program

The easy way you describe is not possible.