We theoretically investigate the non-equilibrium quantum phase transition in a generic setup: the pseudogap Kondo model where a quantum dot couples to two-left (L) and right (R)-voltage-biased fermionic leads with power-law density of states (DOS) with respect to their Fermi levels {mu}_L/R, {rho}_c,L(R) ({omega}) propto |{omega} - {mu}_L(R) |r, and 0 < r < 1. In equilibrium (zero bias voltage) and for 0 < r < 1/2, with increasing Kondo correlations, in the presence of particle-hole symmetry this model exhibits a quantum phase transition from a unscreened local moment (LM) phase to the Kondo phase. Via a controlled frequency-dependent renormalization group (RG) approach, we compute analytically and numerically the non-equilibrium conductance, conduction electron T-matrix and local spin susceptibility at finite bias voltages near criticality. The current-induced decoherence shows distinct nonequilibrium scaling, leading to new universal non-equilibrium quantum critical behaviors in the above observables. Relevance of our results for the experiments is discussed.