I had DD2 on Wednesday, and the restless legs stuck around for two days after that. They have finally gone, thank God. Well, the legs are still there ...
It's iron that is recommended I think, so make sure your levels are up. My doc also recommended a glass of hot milk before bed which helped too (calcium can be a factor).
My own innovation was flight socks which made a difference for a short while and the last few nights before I went into labour a shallow hot bath for 20 mins gave me some sleep.
Nothing worked consistently, but I found the most reliable thing was using an antenatal hypnotherapy CD (Effective Birth Preparation by Maggie Howell) before bed. Now, you can only use this from 36 weeks, but the breathing exercises meant I relaxed enough to get to sleep before the cramps ratcheted me fully awake.
The cramps really are distressing: hope the random tips here offer some help