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The rapid proliferation of Internet of Things (IoT) devices has significantly increased vulnerability to Distributed Denial of Service (DDoS) attacks, which can severely disrupt network operations. DDoS attacks in IoT networks disrupt communication and compromise service availability, causing severe operational and economic losses. In this paper, we present a Deep Learning (DL)-based Intrusion Detection System (IDS) tailored for IoT environments. Our system employs three architectures—Convolutional Neural Networks (CNNs), Deep Neural Networks (DNNs), and Transformer-based models—to perform binary, three-class, and 12-class classification tasks on the CiC IoT 2023 dataset. Data preprocessing includes log normalization to stabilize feature distributions and SMOTE-based oversampling to mitigate class imbalance. Experiments on the CIC-IoT 2023 dataset show that, in the binary classification task, the DNN achieved 99.2% accuracy, the CNN 99.0%, and the Transformer 98.8%. In three-class classification (benign, DDoS, and non-DDoS), all models attained near-perfect performance (approximately 99.9–100%). In the 12-class scenario (benign plus 12 attack types), the DNN, CNN, and Transformer reached 93.0%, 92.7%, and 92.5% accuracy, respectively. The high precision, recall, and ROC-AUC values corroborate the efficacy and generalizability of our approach for IoT DDoS detection. Comparative analysis indicates that our proposed IDS outperforms state-of-the-art methods in terms of detection accuracy and efficiency. These results underscore the potential of integrating advanced DL models into IDS frameworks, thereby providing a scalable and effective solution to secure IoT networks against evolving DDoS threats. Future work will explore further enhancements, including the use of deeper Transformer architectures and cross-dataset validation, to ensure robustness in real-world deployments.