According to reports in the Greek media, the charges against the Stuttgart-based company centre on contracts for military vehicles signed between 1997 and 2000.
The total value of the contracts is reported to be over €100 million, while the bribes were in the region of €2 million, reports Tagesspiegel.
The dossiers on which prosecutors are basing the case against seven Daimler managers originate from a US investigation into the company.
Daimler has already been ordered to pay €185 million in the USA on corruption charges relating to cases in 22 countries between 1998 and 2008.
It is unclear whether the accused, whose names have not yet been disclosed, still work for the company. Daimler fired over 40 employees in the wake of the US trial.
Wirtschafts Woche report Daimler saying they have no formal knowledge of the charges.
The crime for corruption in Greece carries a maximum sentence of 20 years.
Siemens under suspicion
This isn't the first case Greek prosecutors have brought against a German multinational in the recent past.
In November 2014 prosecutors brought charges against 13 ex-Siemens managers in a case involving bribes of €62 million.
In Germany some legal experts accuse Greek prosecutors of filing politicised charges.
A large number of the Siemens managers have already been prosecuted in Germany and in Europe one cannot be put on trial for the same crime in two separate countries.