5th Light Division arrived in Tripoli with all of its equipment painted overall Panzer Gray.
Once they moved out into the desert, an improvised camo of mud made from the local earth was smeared on the vehicles to blend them in with local terrain (somebody scanned this from Squadron's Panzer Colors volume I)
Later in 1941 the first "tropical" camo colors were developed for equipment in Africa. In 1942 new different colors were developed and fielded. And finally in Feb 1943, Dark Yellow was introduced.
Testors makes the colors
http://www.testors.com/category/136417/WWII_German_Panzer_Colors