Upvote:2
According to the EU Regulation (EC) no 998/2003 :
To move a dog, cat or ferret as a pet animal under the conditions laid down in Regulation (EC) no 998/2003, the owner must prove that the animal meets the following criteria:
(a) animal of one of the species listed in Annex I to Regulation (EC) no 998/2003; (b) the movement of the animal must be triggered by the need of the owner to move; (c) the animal must not be intended to be sold or transferred to another owner in the context of the regulated movement.
Upvote:2
There are no specific rules for Germany, general EU rules apply.
Your dog needs rabies vaccine and health certificate on official EU form filled in by certified veterinarian no more than 10 days before travel.
Whole process described in details in USA Today's "How to Travel With Pets to Europe"