We report the first detections of OH$^+$ emission in planetary nebulae (PNe). As part of an imaging and spectroscopy survey of 11 PNe in the far-IR using the PACS and SPIRE instruments aboard the Herschel Space Observatory, we performed a line survey in these PNe over the entire spectral range between 51 and 672$μ$m to look for new detections. OH$^+$ rotational emission lines at 152.99, 290.20, 308.48, and 329.77$μ$m were detected in the spectra of three planetary nebulae: NGC 6445, NGC 6720, and NGC 6781. Excitation temperatures and column densities derived from these lines are in the range of 27 to 47 K and 2$\times$10$^{10}$ to 4 $\times$10$^{11}$ cm$^{-2}$, respectively. In PNe, the OH+ rotational line emission appears to be produced in the photodissociation region (PDR) in these objects. The emission of OH+ is observed only in PNe with hot central stars (T$_{eff}$ > 100000 K), suggesting that high-energy photons may play a role in the OH+ formation and its line excitation in these objects, as it seems to be the case for ultraluminous galaxies. ; Comment: 9 pages, 7 figures; accepted for publication in A&A