I've been doing some research about the smaller cities and bigger towns that came through WW2 with little or no damage.
Unless I've missed something, all big cities had extensive bomb damage. The website skyscraper city had a whole discussion about the subject several years ago.
The smaller cities that came through mostly intact were Halle and Wiesbaden. According to some Wikipedia research I did Wiesbaden was slated for a full bombardment by the British but it was a cloudy night and the attack was mostly unsuccessfull, 28,000 were left homeless, but the city was mostly spared. In Halle the city suffered some damage, but not too extensive, though some historic buildings were destroyed.
Below that level, a whole range of what some might term small cities, or others big towns came through pretty well.
I found this list in the discussion thread on skyscraper city, and did some further research in the Wikipedia entry under Deutsche stadten mit historischem stadtkern, that is, German cities with a historic city center.
Heidelberg,
Baden Baden,
Regensburg,
Bamberg,
Tubingen,
Konstanz (proximity to the Swiss border may have saved this city)
Schwerin, (3% destroyed)
Gorlitz,
Celle, (2% destroyed)
Oldenburg,
Marburg, (4% destroyed)
Luneberg,
Landshut
Coburg, (5% destroyed)
Esslingen,
Gotha, (only 5% destroyed, but several historic buildings hit)
Kempten (2% destroyed)
Speyer,
Gottingen,
Passau,
Furth (90% of old city intact)
Rosenheim,
Flensburg,
Gustrow,
Zwickau, (5% destroyed, best preserved big town in Saxony?)
Hopefully I'm missing some other bigger towns, and of course many smaller towns are not on this list. I wasn't sure what to do about Erfurt. Apparently 17% of homes were destroyed, but perhaps it deserves mention as a fairly big city somewhat intact, and some commentators on the skyscraper city discussion felt it qualified as not too damaged.