Biased since I'm a current student at Michigan Ross. Overall speaking, these three schools are truly peer schools. They are more similar than they are different. So you can't go wrong with any one of them.
1, About consulting recruiting:
Since Michigan and Duke have specific no. of people placed at each top employers while not for Darden. I calculated % of people sent to consulting in FT for 2008-2013, since there were ups (2011, 2012, 2013) and downs (2009, 2010) during this period. I would suggest you get these detail info from career office of Darden and do the same thing below.
% of people to MBB in FT
2008 2009 2010 2011 2012 2013 Avg
Michigan 8% 5.9% 5.5% 8.0% 8.0% 7.4% 7.1%
Duke 4.4% 4.9% 2.8% 8.4% 9.3% 5.3% 5.9%
% of people to MBB+Deloitte Strategy& ATK in FT
2008 2009 2010 2011 2012 2013 Avg
Michigan 14.4% 12.2% 9.4% 14.2% 17.0% 14.2% 13.5%
Duke 7.0% 9.8% 7.2% 17.2% 16.7% 14.0% 12.0%
The conclusion here is that Michigan has a slight edge vs Duke in MBB and major firms placement
2, About the quality of student body:
Avg Gmat Undergrad GPA
Darden 706 3.50
Michigan 702 3.40
Duke 690 3.43
The conclusion here is that these three schools have similar quality of student body. Darden and Michigan might have a slight edge in this respect vs Duke.
3, Fit might be more important in your case
Given these three schools are so similar, go with your gut and your feeling about fit. You will be fine.