Edit: the question as posed before the edition looked like balanced parenthesis problem - which is not solvable with regular expressions. See explanation below.
But after the edit, it turned out that it's about working with only a single level of parenthesis, i.e. without nesting them. This is possible, and can be seen in anubhava's answer.
You can't.
Regular expressions (as defined by computer science) are unable to perform such task, as they, essentially, lack the "memory" required to do it.
Think of regular expression as a state machine with a finite amount of states. Each character you see in the input moves you from one state to the other.
As soon as you provide a long enough string of open parenthesis, i.e. of length larger than the number of states, you would have to land in a state that you already visited, leaving out any count of open parenthesis you've encountered.
The model of computation you are looking for here would be (at least) something called Context Free Grammar. A machine model that works with such grammars is called Push Down Automata (by analogy, in case of regular expressions it was Finite Automata).
Or maybe you can?
There are some flavours of Regex that doesn't follow the computer science term, and have additional features like recursive expressions. That would be able to capture the parenthesis and find whether all of them close in the right order.
An example of that can be seen here.