We evaluate the deuteron charge, quadrupole, and magnetic form factors using wave functions obtained from chiral effective theory ($\chi$ET) when the potential includes one-pion exchange, chiral two-pion exchange, and genuine contact interactions. We study the manner in which the results for form factors behave as the regulator is removed from the $\chi$ET calculation, and compare co-ordinate- and momentum-space approaches. We show that, for both the LO and NNLO chiral potential, results obtained by imposing boundary conditions in co-ordinate space at $r=0$ are equivalent to the $\Lambda \to \infty$ limit of momentum-space calculations. The regulator-independent predictions for deuteron form factors that result from taking the $\Lambda \to \infty$ limit using the LO $\chi$ET potential are in reasonable agreement with data up to momentum transfers of order 600 MeV, provided that phenomenological information for nucleon structure is employed. In this range the use of the NNLO $\chi$ET potential results in only small changes to the LO predictions, and it improves the description of the zero of the charge form factor.