We report rest frequencies for rotational transitions of the deuterated ammonium isotopologues NH3D+, NH2D2+, and NHD3+, measured in a cryogenic ion trap machine. For the symmetric tops NH3D+ and NHD3+, one and three transitions are detected, respectively, and five transitions are detected for the asymmetric top NH2D2+. While the lowest frequency transition of NH3D+ was already known in the laboratory and space, this work enables the future radio astronomical detection of the two other isotopologues.