During World War 1, there was fighting on German soil, particularly during the Battle of Tannenberg in August 1914 and the Battle of the Marne in September 1914. The Western Front also saw significant fighting in Belgium and northeastern France, which are geographically close to Germany. Additionally, the German Navy engaged in battles in the North Sea, including the Battle of Jutland in 1916.
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Most of the fighting in the western front was fought in the northern France and Belgium because of the german's schlieffen plan which involved the invasion of belgium there was no fighting on german soil but on the eastern front there was the battle of Tannenberg which was in east Prussia (now known as the eastern part Poland) but if you are talking about the western from then no.
No German invaders made onto U.S soil during World War 2. Many probably migrated here during the war but did so in peace and legal means.
The Channel Islands were occupied by Germany during WW2.
Germany posed no direct threat to America early on in World War I, until America came to the aid (with men and equipment) of Britain and the Allies fighting against Germany on European soil. Both in the first and second world wars with Germany, the industrial might, and the manpower the Americans could bring to bear, directly helped bring about the defeat of Germany in the West and saved Britain and Allies from defeat - with Russia fighting towards Berlin as (at that time) an Ally.
One advantage the south had because they were fighting on their own soil was that they could move troops easier. Another advantage was that the south was used to their climate while the north was used to colder temperatures.
If you count the Falkland Islands as British soil, then sometime during the Falklands War of 1982.