I think sleep deprivation does go hand in hand with motherhood, from well before baby is born. I found I was waking frequently even in the first trimester with my girls.
The best things I have found are:
1. Bed time routine. Kids need it, and so do adults. For me, it's pretty fussy - wind down, have a bath or shower, cuddle up with DH on my left, talk for a while, then turn onto my right to sleep.

2. Add the bath to your bedtime routine. It's soooooooo relaxing and nice for achy hips and legs and back. And they say that your body is triggered to sleepiness as it cools down, so if the bath is warm, apparently when you get out, you will become sleepy.

3. Move out of your bed if you're not sleeping there. DH and I both find that if we are lying awake, tossing and turning, moving to the couch seems to solve it. We both sleep very quickly if we move to a new spot when we can't sleep in bed.

4. Try a body pillow. I found that as I got bigger, I was much more comfortable with my arms and legs kind of wrapped around a pillow and my tummy supported by it, as I lay on my side.

That's all I can think of for now. Hope you find something that helps. All the best!