Depends on the campaign. Post Spring 1943 dark yellow was ordered to be used as the base color for German vehicles. Olive green and a red brown were issued as paste for use as the disruptive colors to be applied over the base color. These colors could vary very much in shade due to the method of application. These 3 colors cover all the late war German stuff. Before this time the overall base color was dark grey. Over this could be applied a brown or green or whatever the crews could get even mud!
Lots of the first North African vehicles were shipped in dark grey and camo'ed with mud. There were 4 official colors used for the North African campaign. 2 colors each one for base and one for camo. The switch in colors occurred sometime in late Spring 1942. Paint shipping was a low priority to Africa so lots of German vehicles were painted with Italian paints and captured British stock too.