Cybersecurity has been widely used in various applications, such as intelligent industrial systems, homes, personal devices, and cars, and has led to innovative developments that continue to face challenges in solving problems related to security methods for IoT devices. Effective security methods, such as deep learning for intrusion detection, have been introduced. Recent research has focused on improving deep learning algorithms for improved security in IoT. This research explores intrusion detection methods implemented using deep learning, compares the performance of different deep learning methods, and identifies the best method for implementing intrusion detection in IoT. This research is conducted using deep learning models based on convolutional neural networks (CNNs), long short-term memory (LSTM), and gated recurrent units (GRUs). A standard dataset for intrusion detection in IoT is considered to evaluate the proposed model. Finally, the empirical results are analyzed and compared with the existing approaches for intrusion detection in IoT. The proposed method seemed to have the highest accuracy compared to the existing methods.