| Generalleutnant Hans Freiherr von Boineburg-Lengsfeld | (25 Sep 1941 - 16 Nov 1941) |
| Generalmajor Heinz-Joachim Werner-Ehrenfeucht | (16 Nov 1941 - 22 Nov 1941) |
| Generalleutnant Hans Freiherr von Boineburg-Lengsfeld | (22 Nov 1941- 20 July 1942) |
| Generalmajor Erwin Mack | (20 July 1942 - 26 Aug 1942) |
| Generalleutnant Hans Freiherr von Boineburg-Lengsfeld | (26 Aug 1942 - 26 Dec 1942) |
| General der Panzertruppen Nikolaus von Vormann | (26 Dec 1942 - 25 Oct 1943) |
| Generalmajor Ewald Kräber | (25 Oct 1943 - 1 Nov 1943) |
| Generalmajor Heinz-Joachim Werner-Ehrenfeucht | (1 Nov 1943 - 18 Nov 1943) |
| Generalmajor Ewald Kräber | (18 Nov 1943 - 9 June 1944) |
| Generalleutnant Josef von Radowitz | (9 June 1944 - 8 May 1945) |
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| Division Staff |
| Staff: Staff Company, Signals Platoon, 128th Mapping Detachment. |
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| 201st Panzer Regiment (later renumbered 23rd) |
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Staff: Signals Platoon, Regimental Band, 1st Panzer Battalion: staff, staff company, 1st Panzer Company, 2nd Panzer Company, 3rd Panzer Company, 4th Panzer Company and Panzer Maintenance Company. 2nd Panzer Battalion: staff, staff company, 1st Panzer Company, 2nd Panzer Company, 3rd Panzer Company, 4th Panzer Company and Panzer Maintenance Company. |
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| 126th Panzergrenadier Regiment |
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Staff: Staff Company, Regimental Band, Signals Platoon, Panzerjäger Platoon, Motorcycle Platoon.
1st Panzergrenadier Battalion (mounted on tanks): 1st Grenadier Company, 2nd Grenadier Company, 3rd Grenadier Company, Heavy Company (half-tracks): Pioneer Platoon, 1st Panzerjäger Platoon, 2nd Panzerjäger Platoon, Infantry Gun Platoon. Infantry Gun Company (self propelled), Flak Company (self propelled). 2nd Panzergrenadier Battalion (half-tracks): 1st Grenadier Company, 2nd Grenadier Company, 3rd Grenadier Company, Heavy Company (half-tracks): Pioneer Platoon, 1st Panzerjäger Platoon, 2nd Panzerjäger Platoon, Infantry Gun Platoon, Infantry Gun Company (self propelled), Flak Company (self propelled). |
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| 128th Panzergrenadier Regiment |
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Staff: Staff Company, Regimental Band, Signals Platoon, Panzerjäger Platoon, Motorcycle Platoon.
1st Panzergrenadier Battalion (mounted on tanks): 1st Grenadier Company, 2nd Grenadier Company, 3rd Grenadier Company, Heavy Company (half-tracks): Pioneer Platoon, 1st Panzerjäger Platoon, 2nd Panzerjäger Platoon, Infantry Gun Platoon. Infantry Gun Company (self propelled), Flak Company (self propelled). 2nd Panzergrenadier Battalion (half-tracks): 1st Grenadier Company, 2nd Grenadier Company, 3rd Grenadier Company, Heavy Company (half-tracks): Pioneer Platoon, 1st Panzerjäger Platoon, 2nd Panzerjäger Platoon, Infantry Gun Platoon, Infantry Gun Company (self propelled), Flak Company (self propelled). |
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| 128th Panzerjäger Battalion |
| 1st Panzerjäger Company (towed), 2nd Panzerjäger Company (self-propelled). |
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| 23rd Reconnaissance Battalion |
| Armored Car Company, Reconnaissance Company (half-track), 1st Motorcycle Company, 2nd Motorcycle Company, Heavy Reconnaissance Company: Pioneer Platoon, 1st Panzerjäger Platoon, 2nd Panzerjäger Platoon, Light Reconnaissance Supply Column. |
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| 128th Artillery Regiment |
| Staff: Staff Company, Staff Battery.
1st Artillery Battalion: Staff, Staff Battery, 1st battery, 2nd Battery, 3rd Battery, Observation battery. 2nd Artillery Battalion: Staff, Staff Battery, 1st battery, 2nd Battery, 3rd Battery, Observation battery. |
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| 278th Flak Battalion |
| Staff, Staff Battery, 1st Heavy Flak Battery (towed), 2nd Heavy Flak Battery (towed), Light Flak Battery (towed), Self-Propelled Flak Battery, Light Flak Supply Column. |
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| 51st Pioneer Battalion (Engineers) |
| Staff, 1st Pioneer Company (half-tracks), 2nd Pioneer Company (mounted on tanks), 3rd Pioneer Company (mounted on tanks), Bridging Company, Pioneer Supply Column. |
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| 128th Signals Battalion |
| Telephone Company, Radio Company, Light Signals Supply Column. |
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| Supply and Support Units |
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| Army Tactical Reconnaissance Group 41 |
| Staff, Staff Flight, 1st squadron, 2nd squadron, 3rd squadron, 4th squadron, 5th squadron, 6th squadron. |
