You cannot just pay a single estimated tax payment to catch up, but you can do so for the last quarter to help lessen the penalties if you expect to owe a lot. You do this by sending in a 1040-ES form for every quarter. The deadlines are around April 15, June 15, September 15 and January 15 for the 1st, 2nd, 3rd, and 4th quarters respectively. The 1040-ES form is simply a small slip with your name, address, SSN, etc. You send this slip in with a check of your payment.
So you still have time to make a payment for the 4th quarter, but will pay penalties for the 1st 3 quarters if you owe a lot without the estimated payments. This is of course for the Federal (IRS).
State by State should be similar but check your state's tax guide for exact information.