You have 2 choices:
1) Either specify the column name list (without the identity column).
2) SET IDENTITY_INSERT tablename ON, followed by insert statements that provide explicit values for the identity column, followed by SET IDENTITY_INSERT tablename OFF.
If you are avoiding a column name list, perhaps this 'trick' might help?:
-- Get a comma separated list of a table's column names
SELECT STUFF(
(SELECT
',' + COLUMN_NAME AS [text()]
FROM
INFORMATION_SCHEMA.COLUMNS
WHERE
TABLE_NAME = 'TableName'
Order By Ordinal_position
FOR XML PATH('')
), 1,1, '')