The US tax system is pay-as-you-go. Employees satisfy this through paycheck withholding; anyone with income that isn't withheld — freelancers, contractors, business owners, and people with significant investment or rental income — generally must make estimated payments four times a year. The threshold is expecting to owe $1,000 or more when you file.
Payments are due in mid-April, mid-June, mid-September and mid-January of the following year. Note the quarters aren't evenly spaced, which surprises people. Each payment should cover the tax on income earned in that period, which is why paying everything at the end doesn't avoid a penalty for earlier shortfalls.