This is an alternative way to see this question. By argument given by the current answercurrent answer given by Ehud Meir we may assume that $R_1$ is the identity matrix. Then the hypotheses imply that for $i=2,\cdots,d$ the maps $v\rightarrow R_i v$ are $d-1$ independent vector fields on the unit sphere $S^{d-1}$. But it is known that the maximal number of independent vector fields on the unit sphere $S^{n-1}$ is $n-1$ if and only if $n=1, 2, 4 $ or $8$. This follows from a much stronger result due to J. F. Adams (Annals of Mathematics, 1962)