The Ausf. D was developed as a cavalry tank for use in the pursuit and reconnaissance roles. Only the turret was the same as the Ausf. C model, with a new hull and superstructure design and the use of a Maybach HL62TRM engine driving a seven-gear transmission (plus reverse). The design was shorter (4.65 m) but wider (2.3 m) and taller (2.06 m) than the Ausf. C. Speed was increased to 55 km/h. A total of 43 Ausf. D and Ausf. E tanks were built from May 1938 through August 1939 by MAN, and they served in Poland. They were withdrawn in March 1940 for conversion to other types.

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