The Commons expenses watchdog has released figures that show that 148 MPs take advantage of rules that allow them to claim expenses to cover the extra costs of their children living and travelling with them.

The details released by the Independent Parliamentary Standards Authority (Ipsa) under Freedom of Information laws showed that some MPs had claimed more than £10,000 and that travel by young dependants had cost the taxpayer nearly £140,000 since 2010, the Daily Telegraph reported.

MPs have been allowed to claimed higher expenses to rent bigger properties and pay for children's travel after rules were relaxed in 2011, following lobbying from politicians.

It comes as the Commons expenses watchdog will defend the idea of handing MPs a significant pay rise on Friday, despite the move being condemned by the main party leaders. An increase of close to £10,000 – coupled with higher pension contributions – is expected to be proposed by Ipsa later this month.

However David Cameron says it would be "unthinkable" to make Westminster more expensive to the taxpayer.