User Content view restrictions add-on.
You need 1st to add restrictions for all pages which should not be viewable by not logged-in users – open page for editing and select for it at least “Any User Role (logged in only)” at the “Content view restrictions” section.
Then you can allow to the selected role to view the selected pages by ID list – via Users->User Role Editor. Or make it directly for the every page – selected at the page editor which roles can view this page.