Madhuri Dixit is the one among these actress who is trained in multiple classical dance forms well before she came to films. Also she has handled complex choreographies and has given some of the most popular dance number of Hindi cinema from Ek do Teen, Hamko Aajkal hai, Choli ke peeche, Dhak dhak karne lagaa, and dola re dola etc. I would rate her higher as a dancer than as an actor.
Aishwarya Rai Bachchan has performed great dance numbers in Ham Dil De Chuke Sanam and Devdas. Otherwise too she was a very graceful dancer with wonderful dance numbers to her credit including Kajrare and Crazy kiya Re or even Ishq Kameena.
Karishma Kapoor was one dancer who evolved wonderfully with time. Her biggest accomplishment was to look graceful dancing with a dancer like Sunny Deol in Yaara o Yaara and at the same time match steps with Govinda who was a fantastic dancer. Also, she literally overshadowed Madhuri and even matches her dancing intensity in Dil to Pagal Hai. In her heydeys she was a sight to behold.
Between Kareena and Deepika it is difficult to choose because there is lack of complex choreography for them though they have done considerable number of dance songs. Deepika was good in Pinga though couldn't match the intensity of Dola re dola.
Kareena haa done item songs like Mera naam mary and fevicol but I don't remember her doing complex dance numbers or even classical Indian dance. So I would give benifit of doubt to Deepika.