The final quarter payment of 2016 estimated federal income tax is due on January 17, 2017. If your adjusted gross income is less than $150k, this should have been based on a calculation that you made at the beginning of the year by estimating your 2016 taxes and paying at least 90% of that, or 100% of what you paid in taxes for 2015.
When you make more than $150k of adjusted gross income, the estimated taxes to pay should be either 90% of your estimated 2016 federal income taxes or 110% of your 2015 income taxes.
If your taxes changed substantially at some point in 2016 though, remember that you should have adjusted your estimated payments too. If you think you fell short on these estimated payments, this last payment is your chance to catch up while reducing your penalty.
If you need help with the calculations we would be happy assist you.