We present lifetime measurements of the
5D3∕2 and
5D5∕2 states of rubidium using the time-correlated single-photon-counting method. We perform the experiment in a magneto-optical trap of
87Rb atoms using a two-step excitation with the trap laser at
780nm as the first step. We record the
761.9nm fluorescence from the decay of the
5D3∕2 state to the
5P1∕2 state, and measure the lifetime of the
5D3∕2 state $\ensuremath{\tau}=246.3(1.6)\phantom{\rule{0.3em}{0ex}}\mathrm{ns}$. We record the
420.2nm fluorescence from the cascade decay of the
5D5∕2 state to the
5S1∕2 state through the
6P3∕2 state, and extract the lifetime of the
5D5∕2 state $\ensuremath{\tau}=238.5(2.3)\phantom{\rule{0.3em}{0ex}}\mathrm{ns}$.