Out of all the popular cities in Germany, Aachen is the cheapest city to rent a car in at just $16/day. Renting a car in Aachen is 29% cheaper than renting one in Stuttgart where the per day rate is around $21. Other fairly inexpensive cities in Germany to get a rental car in are: Hannover ($17/day), Nuremberg ($18/day), and Münster ($19/day). While these cities typically have cheaper prices than the rest of the country, travelers looking to rent a car in Berlin should expect to spend around $20/day on their transportation. The most popular city to rent a car in Germany is Berlin.