Bit-Interleaved coded modulation with Iterative decoding (BICM-ID) is a bandwidth efficient transmission scheme which is suitable for next-generation wireless communication systems. In this paper we focused on the interleaver design based on the chaotic maps to further improve the performance of BICM-ID. We used the dispersion and correlation to analyze the performance of the interleavers. The chaotic interleaving schemes generated from the Logistic map, the Henon map and the Lozi map are provided which have better performance than the random interleaver when applied to BICM-ID. It shows that the inclusion of a chaotic vector increases the dispersion of the golden interleaver and improves the system performance. Simulation results in both Additive white Gaussian noise (AWGN) channel and Rayleigh fading channel are provided which demonstrate the effectiveness of the proposed approaches.