The twins weigh only 169 and 136 grams, respectively, and are around 14 centimeters long. Their sex has not yet been determined with certainty.
"Now it's time to keep our fingers crossed for the critical first few days," the zoo wrote in a statement after the birth.
Panda cubs are born deaf, blind, and pink. Their characteristic black and white fur develops later.
This is the second time 11-year-old Meng Meng has given birth to twins. Five years ago, she had Pit and Paule, also known by their Chinese names Meng Xiang and Meng Yuan. They were the first giant pandas born in Germany and have been major crowd-pullers in Berlin until they were moved to China last winter.
There are approximately 1,800 wild giant pandas in China and a few hundred in captivity around the world.