Inspired to the work of Ma and Wu (Discrete Contin Dyn Syst 31:545-557, 2011) and Climenhaga (Ergodic Theory Dyn Syst 31(4):1163-1182, 2011), we introduce the new notions of topological pressure and upper (lower) capacity topological pressure of a free semigroup action of maps for finite potential functions by using the Caratheodory-Pesin structure (C-P structure) with respect to non-compact sets in this paper. Meanwhile, we also give some properties of these notions. Moreover, by Bowen's equation, we characterize the Hausdorff dimension of certain sets, whose points have the positive lower Lyapunov exponents and satisfy a so-called tempered contraction condition.