get-azureprivateip

#### Get Azure VM Private IP
$ResourceGroup = "myRG"          ### Resource group name
$VMName = "myVM"                 ### VM Name, example VDI-Master

$nic = Get-AzureRmNetworkInterface -name $VMname -ResourceGroupName $ResourceGroup
$AzureIP = $nic.IpConfigurations.privateIpAddress

Write-host "The VM $VMname has IP Address $AzureIP"