"被除去脚镣的" can be translated into English as "having had the shackles removed" or, more concisely, "unshackled".
"Having had the shackles removed" emphasizes the action of removal and is more descriptive.
"Unshackled" is a concise adjective that directly conveys the state of being free from shackles.
Choose the expression that best fits the context of your sentence. For example:
"The prisoners, having had the shackles removed, walked freely in the yard."
"The unshackled figure stood tall, ready to face a new chapter."