We study the position distribution P ( R, N ) of a run-and-tumble particle (RTP) in arbitrary dimension d, after N runs. We assume that the constant speed v > 0 of the particle during each running phase is independently drawn from a probability distribution W (v) and that the direction of the particle is chosen isotropically after each tumbling. The position distribution is clearly isotropic, P ( R, N ) → P (R, N ) where R = | R|. We show that, under certain conditions on d and W (v) and for large N , a condensation transition occurs at some critical value of R = Rc ∼ O(N ) located in the large deviation regime of P (R, N ). For R < Rc (subcritical fluid phase), all runs are roughly of the same size in a typical trajectory. In contrast, an RTP trajectory with R > Rc is typically dominated by a 'condensate', i.e., a large single run that subsumes a finite fraction of the total displacement (supercritical condensed phase). Focusing on the family of speed distributions W (v) = α(1 − v/v0) α−1 /v0, parametrized by α > 0, we show that, for large N , P (R, N ) ∼ exp [−N ψ d,α (R/N )] and we compute exactly the rate function ψ d,α (z) for any d and α. We show that the transition manifests itself as a singularity of this rate function at R = Rc and that its order depends continuously on d and α. We also compute the distribution of the condensate size for R > Rc. Finally, we study the model when the total duration T of the RTP, instead of the total number of runs, is fixed. Our analytical predictions are confirmed by numerical simulations, performed using a constrained Markov chain Monte Carlo technique, with precision ∼ 10 −100 .