Will doing a system restore bring back a deleted D drive?

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it might if the D drive was deleted because of some Trojan or malware.

If the D: drive is a recovery drive on the hard disk, the PC may restore it if you made a recovery backup to DVD or to an external drive and choose to restore the PC to factory specifications.

nope. you don't "delete" drives, you format and erase them, or delete partitions on them. when this happens, it is a device change, not a file change.

System restore will put the computer back to factory conditions. If that drive D: was default, then it will return. The contents you personally saved in D: and C: for that matter will all be gone. All programs you installed from when you bought the computer will also be gone. 

I'm certain that is not the restore you are looking for. You would be better off using a recovery program like Recuva.

The normal restore points used for a system restore in Windows 10 only restores the file that are part of the Windows operating system.  It does not restore any other programs or any data (c: or d:).  It also does not do anything that would remove those files.  It is used when Windows fails to load properly.  The idea is that Windows loads you can then back up all the over files and rescue them.

But the default Windows system restore does not backup or restore anything on a D:.  You would have had to installed (and used regularly) another backup program to get those files back.