The Forgotten Soldier by Guy Sajer is one that I'm finishing up right now. It's quite riveting. Technically the protagonist is only part German, but he served in the Wehrmacht (in the elite Panzer Grenadier Division Großdeutschland). There's been a bit of controversy as to the historical authenticity of the memoir. The division historian of the Großdeutschland was at first convinced that Sajer (real name Guy Mouminoux) was a fraud, but after exchanging letters with him became convinced that the memoir was indeed authentic. The evidence presented for arguing that the book is fake seems extremely flimsy to me (tiny details that an enthusiast would care about but a veteran might not). However read it yourself and draw your own conclusion. It's a great read, and for the most part appears to be a historically truthful memoir (in the sense of it being the truth as one man saw it), and exactly what you're looking for.

Five Years, Four Fronts is the memoir of a career NCO-turned-officer in the German infantry. It offers a rather different perspective from either the memoirs of common soldiers or the writings of senior officers, and gives more of an impression of the war from a company-level officer's position.

Tigers in the mud is the first hand account of Otto Carius and his experiences, mostly revolving around his usage of the Tiger tank. It is no foot solder, how ever, but he was one of the big tank aces during the war and he did survive through it.

Black Edelweiss is the biography of a young german Waffen-SS soldier. It is written by a Johan Voss, which is a pseudonym so I can't comment on it's credibility. How ever I have not seen any reviews that dismiss it as fiction as of yet.

Hope that was helpful.

Grenadiers by Kurt "Panzer" Meyer is interesting. On the one hand, he undoubtedly was a celebrated soldier who justifiably deserved his reputation for bravery, daring, and ingenuity. On the other, he was a member of the Waffen-SS, who was tried and convicted of war crimes after the war, and much of the book is a white-washed attempt to a) Deny he did anything wrong and b) Deny the Waffen-SS in general acted especially badly in general. Not saying don't read it, as his accounts of combat specifically are written in a very straight forward and easy to digest style; but cautioning you that you need to have a VERY critical eye, and understand that half the book is apologist horsepoop, so especially when you read the parts concerning his trial and imprisonment (he would eventually be freed, and work closely with HIAG), keep that in mind. He also is the worst kind of romanticist in regards to the life of a soldier, talking about glory and honor and all that.

The Forgotten Soldier, as others have alluded to, raises a few eyebrows about certain details but its certainly worth a read.

Soldat by Siegfried Knappe is an interesting story as well, particularly about the details of what it was like on the eastern front at the very end of the war. He ends up in soviet internment camp after the war and goes over his time in detention in detail, I found those chapters the most interesting - especially his insights about how other German senior officers felt about the end of the war .

Panzer Commander by Hans Von-Luck is a great read, it details his time as an officer in a number of Panzer divisions in the French, African and Russian theaters. His exploits during the normandy landings and immediately afterwards are paticularly interesting, as well as his personal observations and conversations with Erwin Rommel who was fond of Von Luck.

If you want to get a little Luftwaffe with it then I highly recommend Stuka Pilot by Hans Ulrich Rudel, his personal politics aside, it's a gripping story of personal bravery and provides great insight into the air war on the eastern front. It's poorly translated or written - not sure which, but I can't recommend it enough, singling out my favourite pieces from the book were Rudel's personal conversations with Hitler and Goring as well as a cruel, but funny, prank played on the Wing's doctor.

I'm currently reading through Für Volk and Führer which is shaping at to be another book worth recommending, it charts the war through the eyes of a soldier in 'SS Adolf Hitler Leibstandarte '

With Rommel in the Desert by Heinz Schmidt is quite a good read.