Internet of Things (IoT) devices are large in number, widely distributed, weak in protection ability, and vulnerable to various malicious attacks. Intrusion detection technology can provide good protection for network equipment. However, the normal traffic and abnormal traffic in the network are usually imbalanced. Imbalanced samples will seriously affect the performance of machine learning detection algorithm. Therefore, this paper proposes an intrusion detection method based on data augmentation, namely TMG-IDS. We name the proposed data augmentation model TMG-GAN, which is a data augmentation method based on generative adversarial networks (GAN). First, TMG-GAN has a multi-generator structure, which can be used to generate different types of attack data simultaneously. Second, we increase the classifier structure, which can optimize the generator and discriminator more efficiently based on the classification loss. Third, we calculate the cosine similarity between the generated samples and the original samples and other types of generated samples as a generator loss, which can further improve the quality of generated samples and reduce the class overlap area between the distributions of various generated samples. We conduct extensive experiments on two intrusion detection datasets, CICIDS2017 and UNSW-NB15. The experimental results show that compared with the advanced oversampling algorithm and the latest intrusion detection algorithm, the proposed TMG-IDS method has a good detection effect under the three indicators of Precision, Recall and F1-score.