Panzerwaffe (German for "Armoured Force", "Armoured Arm" or "Tank Force". Waffe: [combat] "arm") refers to a command within the Heer of the German Wehrmacht, responsible for the affairs of panzer (tank) and motorized forces shortly before and during the Second World War. It was originally known as Schnelltruppen ("Fast Troops"); a motorized command established in the Reichswehr following the First World War, redesignated as Panzerwaffe in 1936 by Generalleutnant Heinz Guderian.

The men of the Panzerwaffe, are referred to as Panzertruppen (Armoured Troops), were distinguishable by their close fitting black uniforms, known as Panzer wraps. After 1943, the Panzerwaffe, like most other German branches of service, had relaxed the uniform rules and many Panzertruppen wore a variety of clothing, including camouflage and winter items.

Two training schools existed for panzer crews throughout the war, Panzertruppenschule I and II.

Motorized infantry were an early formation, and consisted of infantry transported by trucks. Early in the war, there were a number of light divisions, each a semi-motorized cavalry force created out of compromise with the Heer's cavalry command. These were judged inadequate following the Invasion of Poland and converted to fully motorized units.