It helps to take a scenario:
Let's say you logged into portal.azure.com for the first time and created a free tier account.
When you login to Azure, you have a single tenant ID associated with your account which will not change unless you ask Microsoft to delete your account(this is not your Azure domain user, this is your Microsoft subscription account - eg. bob@gmail.com).
You will only have 1 subscription unless you've purchased or manage other subscriptions (by using the 'transfer billing ownership' function), then they will all be listed under subscriptions.
You will have FULL access to all "resources" associated with your tenant ID. These resources can be part of your own Azure 'directory' or from another domain that someone has given you access to.
You can create up to 20 directories, and you can belong to up to 500 directories.
When you own the subscription (eg. a free account) you'll have full rights up to the 'root' of the subscription - eg. if you click on your name in the top right corner and select "... > your permissions" you see something like:
Your account 'YOURACCOUNT@gmail.com' has been assigned the role 'User Access Administrator' (type BuiltInRole) and has access to scope /.
Your resources have Role Based Access controls that you, the subscription owner, can assign to other users in your Azure Active Directory (or other trusted directories).
By default, for a new subscription, the Account Administrator is assigned the "Service Administrator" privilege. This is 'above' the RBAC roles - there can only be one service administrator per subscription. In RBAC terms this is an 'owner'.
More points:
A single tenant can have multiple AD directories, but a single directory can only have 1 tenant.
*It is recommended to maintain only a single tenant and manage all of your AD domains from that single tenant, otherwise the user experience between domains will not be a seamless.
*A tenant is directly associated with an AD resource - if you mouse over your username in the top right corner you'll see the AD domain you're connected to and a long alphanumeric string - that's the same string in AD > properties.
*If you switch to another directory (assuming you have one) your subscription name (bob@gmail.com) doesn't change, but the tenant ID will be different.
References:
https://docs.microsoft.com/en-us/azure/role-based-access-control/rbac-and-directory-admin-roles
https://marckean.com/2016/06/01/azure-vs-azure-ad-accounts-tenants-subscriptions/
https://blogit.create.pt/miguelisidoro/2019/01/07/pros-and-cons-of-single-tenant-vs-multiple-tenants-in-office-365/