This will come down to personal preference, but here’s what I would suggest.
First, you can use \shortintertext{where}
from mathtools
within a split
to introduce the definitions.
Second, I took the liberty of making the outer brackets and parentheses one size larger than the inner brackets.
\documentclass{article}
\usepackage{mathtools} % For \shortintertext
\usepackage{unicode-math} % For \setmathfont
\defaultfontfeatures{Scale = MatchLowercase, Ligatures = TeX }
\setmainfont{TeX Gyre Termes}[Scale=1.0] % Modern version of times or newtxtext
\setmathfont{TeX Gyre Termes Math} % Modern version of mathptmx or newtxmath
%% To format the MWE for TeX.SX:
\usepackage[paperwidth=10cm]{geometry}
\pagestyle{empty}
\begin{document}
\begin{equation}
\begin{split}
\bigl[ d[i], a[i] \bigr] = f_{i}\bigl( M[i]\cdot f \bigr)
\shortintertext{where}
\qquad d[i] \in \mathbb{R}^{B \times n_{d}} \textnormal{ and } a[i] \in \mathbb{R}^{B \times n_{a}}
\end{split}
\end{equation}
\end{document}

This solution also preserves alignment points, so you could align a list of definitions, like so:
\documentclass{article}
\usepackage{mathtools} % For \shortintertext
\usepackage{unicode-math} % For \setmathfont
\defaultfontfeatures{Scale = MatchLowercase, Ligatures = TeX }
\setmainfont{TeX Gyre Termes}[Scale=1.0] % Modern version of times or newtxtext
\setmathfont{TeX Gyre Termes Math} % Modern version of mathptmx or newtxmath
%% To format the MWE for TeX.SX:
\usepackage[paperwidth=10cm]{geometry}
\pagestyle{empty}
\begin{document}
\begin{align}
\begin{split}
\qquad \bigl[ d[i], a[i] \bigr] &= f_{i}\bigl( M[i]\cdot f \bigr)
\shortintertext{where}
d[i] &\in \mathbb{R}^{B \times n_{d}} \\
a[i] &\in \mathbb{R}^{B \times n_{a}}
\end{split}
\end{align}
\end{document}

This leaves a lot of blank space on the page, which you might care more about if it’s for a printed textbook. On the bright side, paper is an excellent carbon sink!
You can tweak this to your taste, such as changing the horizontal spacing of a line or using \begin{multilined}
instead, putting only the list of variable definitions in a nested aligned
environment, etc.
If you don’t like “where” on its own line, you could replace \shortintertext{where}
with \textnormal{ where }
.