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Which German unit counterattacked between Sword Beach and Juno Beach?

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During the Normandy Invasion on D-Day, June 6, 1944, elements of the German 21st Panzer Division launched a counterattack into the gap between the British 3rd Division (at Sword Beach) and the Canadian 3rd Division (at Juno Beach).12

Specifically, the 192nd Panzer Grenadier Regiment was the unit that reached the beach area at 2000 hours. This counterattack was the only significant German offensive effort on D-Day, but it was ultimately halted by Allied antitank weapons, air strikes, and tanks.3