The earthquake at 6.46pm was registered as 4.2 on the Richter scale and was the second in the last few weeks to hit south Hesse.
“The strength is considerable for our area,” said Matthias Kracht from the seismological service.
On Sunday the fire service was still securing homes and inspecting cracks in walls in Nieder-Beerbach.
All but one family was able to return to their home on Saturday night and nobody was injured, but the damage to the homes was estimated at around €1 million.
The area was also hit by an earthquake at the end of March which was 3.2 on the Richter scale.