Charm quarks are an excellent probe of the quark-gluon plasma created in heavy-ion collisions as they are produced at a very early stage of such collisions and subsequently experience the whole evolution of the system. With the STAR experiment, charm quark production can be measured by direct topological reconstruction of open-charm hadrons thanks to the exceptional spatial resolution of the Heavy Flavor Tracker detector. In these proceedings, we present a measurement of D$^\pm$ meson production in Au+Au collisions at $\sqrt{s_\mathrm{NN}}$ = 200 GeV by the STAR experiment using data collected in 2014 and 2016. Supervised machine-learning techniques were used to maximize signal significance in raw yield extraction from the three-body hadronic decay channel $\textrm{D}^\pm \rightarrow \textrm{K}^\mp \pi^\pm \pi^\pm$. The D$^\pm$ invariant spectra were measured in 0-10\%, 10-40\%, and 40-80\% Au+Au collisions. The measured transverse-momentum ($p_\mathrm{T}$) differential nuclear modification factor $R_\mathrm{AA}(p_\mathrm{T})$ reveals a significant suppression of high-$p_\mathrm{T}$ D$^\pm$ mesons in central (0-10\%) Au+Au collisions with respect to p+p collisions. The $(\textrm{D}^++\textrm{D}^-)/(\textrm{D}^0+\overline{\textrm{D}^0})$ yield ratio has also been extracted and compared to that from PYTHIA calculations.