It's always worth using the -Filter parameter, if available: it performs filtering at the source and is therefore typically much faster than filtering later.
The syntax of the (string) value accepted by the -Filter parameter is cmdlet- / PowerShell drive provider-specific.
In the case of Get-ChildItem (and its built-in aliases dir and, in Windows PowerShell, ls), it accepts a single wildcard expression - similar to, but distinct from PowerShell's own wildcard expressions - whose supported syntax is platform-dependent:
On Windows, the expression may only contain * and ? wildcards - see this answer.
In PowerShell Core on Unix platforms, the expression may also contain character sets such as [0-9].
[0-9]+.jpg does not work as a -Filter value, because it is a regex (regular expression).
As an aside: You probably meant to use . as a literal, in which case you'd have to escape it in the regex as \., because . is a regex metacharacter representing any char. in the input.
You cannot emulate regular expression [0-9]+.jpg with a wildcard expression, because even when wildcard expressions do support character sets such as [0-9], they lack subexpression duplication symbols (quantifiers) such as + and * and ?.
(By contrast, wildcard metacharacters * / ? are stand-alone constructs that represent any possibly empty sequence of characters / exactly one character).
Note: -WhatIf has been added to the Rename-Item calls below to preview any changes that would be made.
Remove -WhatIf to perform actual renaming.
[PowerShell Core on Unix only] If all *.jpg files of interest have a base name (filename root) that is limited to a single-digit number, (e.g., 1.jpg, ..., 9.jpg), you can get away with passing wildcard expression [0-9].jpg to -Filter:
Get-ChildItem -File -Recurse -Filter [0-9].jpg |
Rename-Item -NewName { $_.BaseName + 'a' + $_.Extension } -WhatIf
Note how passing script-block argument { $_.BaseName + 'a' + $_.Extension } to parameter -NewName constructs the new filename from the input file's base name, followed by literal a, followed by the input file's extension.
Otherwise,
use wildcard expression *.jpg for efficient pre-filtering,
then narrow the pre-filtered results down to specific regex-based matches with a Where-Object call that uses -match to compare each input file's base name to regex ^[0-9]+$, i.e., to test if it is only composed of decimal digits.
Note:
* The command below uses PSv3+ Get-ChildItem and Where-Object syntax.
* The regex passed to -match uses single-quoting ('...') rather than double-quoting ("...") to ensure that PowerShell's string interpolation doesn't get in the way.
Get-ChildItem -File -Recurse -Filter *.jpg |
Where-Object BaseName -match '^[0-9]+$' |
Rename-Item -NewName { $_.BaseName + 'a' + $_.Extension } -WhatIf