Some 150k allies dropped on normandy, 4k allies and 8k germans perished. But How Many Germans were there ? How many germans did the allies fight against ? How many Germans were stationed in the area of Normandy ?
So starting in late Autumn of 1943 Hitler began to come around to the idea that the Allies would be invading Western Europe sometime in the near future. He had previously been skeptical that Britain and the USA would invade. Hitler issued Fuhrer Directive No.51 on November 3rd, 1943 which warned of the impending Anglo-American invasion, it also specified that Oberbefehlshaber West (The German High Command in the West) should be reinforced.
The commander of OB West Was Gerd Von Rundstedt, he held command over all German troops in France and Belgium. In November of 1943 this comprised two army groups, Army Group B which was made up of the Fifteen and seventh armies and Army Group G which was comprised of the first and the nineteenth armies. So overall Rundstedt has an operational strength of forty-six divisions, this would be raised to sixty divisions. This included ten Panzer and PanzerGrenadier divisions. Now all these armies were spread out so only the seventh army was station in Normandy, and they would be the ones responsible for fighting off the allies at D-Day.
To go further down, the German divisions responsible for the beaches would be the 352nd (Omaha) 709th Infantry division (Utah), 716th infantry division (Gold, Sword, and Juno). So in total Three German divisions (around 50,000 men) face nine allied divisions (totaling around 150K). The nine allied divisions included three airborne divisions which were dropped before hand. It should be noted that only the 352nd division was of high quality, while the rest were "static" divisions made up of conscripted POWs and others considered unfit for the regular German army (such as old men, or men who didn't meet the physical requirement for service in the non-Static divisions).
Almost immediately after the landings the Germans sent reinforcements in the form of the 21st Panzer division which attacked the British and Canadian positions at Juno and Sword, and the 91st infantry division which had fought against the allied paratroopers and was then was sent to contain the advance of the Americans out of Utah.
Hitler's Legions by Samuel Mitcham is a good book for the German Order of Battle.
And [here] (http://www.ibiblio.org/hyperwar/USA/USA-E-XChannel/maps/USA-E-XChannel-VI.jpg) is a helpful map (provided by /u/Rittermeister) which outlines the German divisions.
