The most important thing to remember is this:

If the verb has a 'd' or a 't' sound before 'ed' you need to pronounce 'id'.

Be careful! It's the sound, not the letter: 'decided' is pronounced 'decide-id' even though 'decide' ends
in 'e', because we don't say the 'e', so the last sound is 'd'.

So for example:

wanted (want-id)
ended (end-id)
decided (decide-id)
admitted (admit-id)
suggested (suggest-id)
recommended (recommend-id)
hated (hate-id)
intended (intend-id)
started (start-id)

For the other two sounds it doesn't matter so much. Just make sure you don't say '-id'! For example,
'stopped' is pronounced 'stopt' and never 'stop-id'.
If the word before 'ed' ends in the sounds 'p', 'f', 's', 'ch', 'sh', 'k', then 'ed' is pronounced 't': So:

'p' stopped
'f' laughed
's' promised
'ch' watched
'sh' finished
'k' walked

For all other words, 'ed' is pronounced 'd':

allowed
cried
enjoyed
cleaned
imagined