There are three different ways to pronounce the ‘ed’ ending of regular verbs in the simple past tense: / Id / , / t / or / d /. You can listen it here
The pronunciation depends on the sound at the end of the infinitve of the main verb and whether it is voiced or not.
| /Id / infinitives that end in the sounds /t/ or /d/ |
/ d / infinitives that end in a voiced sound |
/ t / infinitves that end in an unvoiced sound |
| needed hated dated seated |
lived chilled enjoyed tried |
shopped picked wished crunched |