You should start with defining what you want in terms of shape. I tried to understand it from the question, please add more details if it is not correct.
So here we have (1) empty array is not allowed and (2) no more than two dimensions. It translates the following way:
def is_allowed(arr):
return arr.shape != (0, ) and len(arr.shape) <= 2
The first condition just compares you array's shape with the shape of an empty array. the second condition checks that an array has no more than two dimensions.
With inner dimensions there is a problem. Some of the lists you provided as an example are not numpy arrays. If you cast np.array([[1,2,3],[2,3],[2,43,32]]), you get just an array where each element is the list. It is not a "real" numpy array with direct access to all the elements. See example:
>>> np.array([[1,2,3],[2,3],[2,43,32]])
array([list([1, 2, 3]), list([2, 3]), list([2, 43, 32])], dtype=object)
>>> np.array([[1,2,3],[2,3, None],[2,43,32]])
array([[1, 2, 3],
[2, 3, None],
[2, 43, 32]], dtype=object)
So I would recommend (if you are operating with usual lists) check that all arrays have the same length without numpy.