In Germany, the tip is negotiated with the waiter or waitress (der Kellner, die Kellnerin) at point of sale, not left on the table after. So, you tip when you pay. Looking in their eyes.
So, let’s say the bill is 27 Euros and you liked the service — you would tell the waiter to keep 30 Euros out of your 50 Euro note, or just ask for 20 Euros back — there is no sneaking away with a low tip in German, you need to look the waiter in her or his eyes.
(this is especially hard when you’re learning to speak German — sorting out the math and then negotiating the change is surely exciting and you should probably practice a little.)
In Germany, 10% is the customary maximum tip, with much less being commonplace. German wait staff are paid professionals in German and the tip you leave is actually a gratuity and not the mandatory US 20%
Also, when you are a waiter in the US and you complain about how cheap Germans are when they eat at your restaurant — please consider the fact that Germans don’t assume that you’re actually on spec at the restaurant and that all your profit comes from undeclared and un-taxed cash tips and that they only tap a maximum of 10% to their wait staff, and generally closer to 5% or so.
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According to the NY Mag’s Urban Etiquette guide, a 20% tip is pretty much mandatory — also in DC and SFO and probably Chicago, too: http://nymag.com/guides/etiquette/17332/index8.html