MYSQL databes recovery using .ibd files
If you have the original SQL statements used to define the tables, you can create new empty tables. That will give you the .frm files you need.
Then you can try to attach the .ibd files you have using importable tablespaces. But those .ibd files probably don't have the required import files. There are blogs about how to binary-edit tablespace files to modify the tablespace id so you can attach it. This is not a solution for a novice.
Honestly, you're better off restoring from a recent backup.
If you didn't make a recent backup, then this will be an unfortunate learning experience about the importance of making backups.