"被除去脚镣的" can be translated into English as "freed from shackles" or "released from leg irons", depending on the context and the level of formality you prefer.
"Freed from shackles" is a more general and poetic expression, implying liberation from any form of restraint or bondage.
"Released from leg irons" is more specific and literal, referring directly to the removal of the physical restraint known as leg irons or shackles.
Choose the one that best fits your context.