Of the two alternatives sentence 1 is better. It would be clearer as The teacher made us read from page number 10 to page number 15, but your contraction is acceptable.
It is very common to leave out the word "number" in such sentences. This would change the first sentence to The teacher made us read from page 10 to page 15. Sentence 2 could be changed similarly to The teacher made us read pages 10 to 15.
In the first sentence we use singular (page or number) because it talks individually about the start (which is singular) and the end (which is also singular). A sentence talking about multiple pages needs to specify the range, like my version of sentence 2.
For sentence 1 you can use "to" or "up to"; it does not matter as pages are always read in numerical order. On the other hand "up to" does not work for sentence 2.
There are a couple of other issues with the second sentence. Firstly it can be misunderstood as a request to read only page numbers. Secondly the word "from" used with a range can mean a selection from the range as in I read selected paragraphs from pages 10 to 15.