The reason d-orbitals make a difference is that electrons in d-orbitals do not screen nuclear charge as effectively as those in s and p orbitals. This is because of something called penetration .. essentially the mathematical shapes of d-orbitals prevent them from allowing electrons to penetrate very closely to the nucleus, compared with electrons in s or p-orbitals. In gallium, you have 10 electrons in the filled 3d-subshell, and each of these electrons is doing a slightly worse job (relatively speaking) of screening the nuclear charge than the electrons in the s and p orbitals. Therefore, the effective nuclear charge in gallium is slightly higher than that in aluminum, so the increase in the radius is a quite a bit smaller than would be expected based on the difference between boron and aluminum, or gallium and indium. The trend goes 82 pm (B) -- 118 pm (Al) -- 126 pm (Ga) -- 144 pm (In) [covalent radii from www.webelements.com]. This effect is generally known as the "d-block contraction". (It can be more or less pronounced depending on how you define the atomic radii.)
A similar thing happens (in principle) when you go from indium to thallium ... except in this case you are now dealing with adding a filled f-subshell to the valence shell. Electrons in f-orbitals are even worse at screening nuclear charge than those in d-orbitals, therefore again, the effective nuclear charge in thallium is a bit larger than it is in indium, so again the jump in radius is fairly small (from 144 to 148 pm). This effect (of the filled f-subshell) is generally known as the lanthanide contraction