We consider the radial and Heisenberg-homogeneous norms on the Heisenberg groups given by N α,A ((z, t), for α ≥ 2 and A > 0. This natural family includes the canonical Cygan-Korányi norm, corresponding to α = 4. We study the lattice points counting problem on the Heisenberg groups, namely establish an error estimate for the number of points that the lattice of integral points has in a ball of large radius R. The exponent we establish for the error in the case α = 2 is the best possible, in all dimensions.