The SdKfz 6 as a 5-ton half-track that was designed as an artillery tractor for the 10.5cm leFH 18 howitzer, the most widely used artillery piece by the German Army during World War II. It the the lightest of the original pre-war half-track designs (until the introduction of the SdKfz 10) and shared many similarities with its early 1930s contemporaries, being designed as both an artillery tractor but also a personnel carrier with the capacity of carrying up to 12 troops on four rows of forward-facing seats. An ammunition stowage compartment was provided in place of the rear row when used as an artillery tractor. A retractable canvas cover was also included although like all pre-war German half-tracks, the SdKfz 6 was unarmored. The SdKfz 6 was also used as an engineering vehicle and other specialized uses although its most well known adaptation was as a self-propelled anti-aircraft gun equipped with the 3.7cm FlaK 36. This version featured folding down sides to give the gun full traverse, with ammunition carried in a single-axle trailer. The SdKfz 6 would see widespread service during the early phase of the war, eventually replaced by newer designs although the anti-aircraft version would remain in production until 1943 and used extensively by Luftwaffe FlaK units.

The Zugkraftwagen 5t (SdKfz 6) was introduced in 1935 with the original design going through various revisions throughout its production run, with later vehicles having a more streamlined hull and an uprated engine. The introduction of lighter half-tracks in the 1-ton and 3-ton classes resulted in a redesignation as the mittlerer Zugkraftwagen 5t, or medium half-track. The specific artillery tractor version was known as the SdKfz 6/1. The 3.7cm FlaK 36 auf Fahrgestell Zugkraftwagen 5t (SdKfz 6/2) was the anti-aircraft version armed with a flak gun, some of which carried a gun shield though most remained unarmored. The 7.62cm FK 36(r) auf Panzerjäger Selbstfahrlafette Zugkraftwagen 5t (SdKfz 6/3), nicknamed Diana, was a tank destroyer conversion using captured Soviet 76.2-mm F-22 guns housed in a lightly armored superstructure. Only 9 were built but saw action in North Africa in mid-1942.