The precision determination of Rydberg state transition frequency is important for quantum sensing and computation. In this study, we prepare ¹³³Cs Rydberg states of nD_5/2, nD_3/2, and nS_1/2 by using a cascaded two-photon excitation scheme with counter-propagating 852 nm probe light and 509 nm coupling light in a cesium vapor cell. Furthermore, by using a microwave field to couple adjacent Rydberg states, we obtain the transition spectra between the Rydberg states based on electromagnetically induced transparency (EIT) and Autler-Townes (AT) splitting effects. Frequency calibration of the sampled data points collected by the oscilloscope is achieved using either the fine-structure splitting interval between nD_5/2 and nD_3/2 Rydberg states for n²D_5/2 → (n+1)²P_3/2 and n²D_3/2 → (n+1)²P_1/2 transitions, or using a second EIT signal generated by an acousto-optic modulator frequency-shifted 852 nm laser for n²S_1/2 → n²P_1/2 transitions. To reduce systematic errors, we use a microwave frequency detuning method for calibrating the AT splitting intervals at different frequencies, and measure the resonant frequencies of three typical cesium Rydberg state transitions: n²D_5/2 → (n+1)²P_3/2 (n = 39–53), n²D_3/2 → (n+1)²P_1/2 (n = 39–47), and n²S_1/2 → n²P_1/2 (n = 59–62). Characterized by experimental simplicity, high precision, and broad applicability, this method is suitable for high-precision measurements of alkali metal Rydberg transition frequencies. Discrepancies between the experimentally measured transition frequencies and the theoretical values from the open-source Python library ARC (Alkali Rydberg calculator) are all less than 850 kHz, with an average difference of 449 kHz. The analysis of the influences of various physical effects such as Zeeman effect on the measurements of Rydberg state transition frequencies shows that the obtained measurement uncertainty is 410 kHz. This small discrepancy demonstrates the exceptional capability and reliability of the EIT-AT splitting method in overcoming environmental interference and achieving MHz-level precision measurements of Rydberg state transition frequencies. These results provide important data for Rydberg atom precision spectroscopy.