"Support for advanced notification is optimized for Touch 3D and the beta1 version of IOS 10 feature is only available on the iPhone 6s and 6s Plus", this is what you see in changelog accompanying the first beta of iOS 10. "the future beta versions of integrated access to this functionality for users who have an iPhone model without support for 3D Touch".
In the demonstration of advanced notifications in iOS 10 was at WWDC on Monday, Apple showed how you can use the 3D Touch a notification to open and respond to it directly from the lock screen.
Similarly, Apple's website shows a preview of this new feature by using 3D Touch to open a text message and respond quickly.
The review notes in iOS 10 reveals that the support for "Rich Notifications" will be available on devices like the iPhone 6 and earlier versions, as well as for the iPhone and iPad models. Currently, the iPhone 6S and iPhone 6S Plus are the only devices compatible with Apple 3D Touch, although it is also expected to be included in the next generation, with the arrival of "iPhone 7."
There have been no details from Apple about when "Rich Notifications" will be used in without Touch 3D devices, because it is not included in the first beta and it is possible that the company is still figuring out the best way to implement advanced notifications in 3D technology without Touch devices.
Despite this, it appears that after the iPhone 6s series devices will be able to take advantage of the advanced notifications, once launched iOS 10 this year. The mobile operating system will be a free update and is compatible with the iPhone 5 or later, iPad mini 2 or later and iPod touch sixth generation.