Eifel Zoo has nearly 400 animals of 60 exotic and native species, including lions, tigers, and other big cats on its 30-acre site.
The animals were believed to still be in the zoo's ground, but residents in the area, near the Luxembourg border, were advised to stay indoors. "They are back where they belong - in their enclosures", said a spokesman.
A bear, which also broke out of the Eifel Zoo in Lunebach on Friday, was shot dead.
People in Luenebach, in the west of the country, have been warned to stay inside by police. The five big cats were found within the confines of the park and were recaptured in the afternoon.
Heavy rainstorms overnight had sparked flash floods.
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Animal escapes from zoos are rare but not entirely unheard of.
The storm had caused widespread devastation in the region, where many residents were Friday clearing muddy water from their cellars and removing downed trees.
According to the zoo's website, it is owned by the Wallpott family and has three permanent employees.
In an earlier zoo incident two year ago, two lions broke out of their cages at the Leipzig zoo. Among those escaped was a bear that was later traced and shot dead.