I guess this is the solution. Would be grateful if someone could verify the arguments.
The proof of the continuous embedding $W^{1,2}(0,T;\mathbb{R}^d)\hookrightarrow \mathbb{L}^2(0,T;\mathbb{R}^d)$ follows from Evans 5.9.2.
So let's begin with the assumption that we have a bounded sequence $(x_n)$ in $X:=W^{1,2}(0,T;\mathbb{R}^d)$, $\sup\limits_{n}\|x_n\|_X<c$ (i.e. we have uniform bounds).
(This assumption may be incorrect (is it??). But it actually holds in the original problem.)
For proving the compact embedding we make use of Azrela-Ascoli theorem which requires
(1) Uniform bounds on $(x_n)$ in the space $X$ which we have.
(2) Equicontinuity:
Let $0\leq s\leq t\leq T$.
\begin{equation}
\|x_n(t)-x_n(s)\|_{\mathbb{R}^d}\leq\int\limits_{s}^t\|\dot{x}_n(\sigma)\|_{\mathbb{R}^d}d\sigma\leq \|\dot{x}_n\|_{\mathbb{L}^2(0,T;\mathbb{R}^d)}(t-s)^{\frac{1}{2}}\leq C(t-s)^{\frac{1}{2}},
\end{equation}
The first inequality is due to fundamental theorem of calculus (and existence of weak derivative).
By Azrela-Ascoli we have managed to show the compactness of $(x_n)$ in the Holder space $C^{\frac{1}{2}}(0,T;\mathbb{R}^d)$. By similar arguments we can show that Holder space $C^\alpha$ is compactly embedded in $C^\beta$ where $\beta>\alpha$. Hence we are done.
Note: There is a subtlety involved in the usage of Azrela-Ascoli theorem. We require that the space $\overline{\{x_n(t): t\in[0,T]\}}$ is compact in $\mathbb{R}^d$. Therefore this embedding would have not been possible for any range space $X$ instead of $\mathbb{R}^d$.