Hi Mozza-

You are not doomed. Have you noticed how Dmaj looks like a triangle? the long part across the second fret, the point at the third fret on the second string. Visualize the points of the triangle and connect the dots with your fingertips.

Also, it may help if you practice it in the context of getting there from another chord that shares something in common with Dmaj, like, for instance, one or two of your fingers make a very short move and serve as an anchor point for the others.

For example, If you were going from Amaj to D maj, notice how your first and second fingers in the A postion are already in the second fret, exactly where they will be headed for D. As you switch to D, let those two go first and stay very close to the strings, very oriented to the neck of the guitar, no extraneous movements at all. Once they are placed, you can pop your third finger into place at the point of the triangle.

I have a tutorial about more tips like this, which you might find helpful.
Here's the link:
SEAMLESS CHORD CHANGES for BEGINNERS
ww.guitartricks.com/tutorial.php?input=484


Good luck and keep us posted!
Best wishes, Lisa