From The Germans in Normandy, by Richard Hargreaves (Pen and Sword, 2006), Kindle Loc. 1390-96:
The rapid success of the invasion, particularly at Utah, Gold and Sword, prompted taunts from the British propaganda machine. The German Army in the west had been taken by surprise, radio reports boasted. ‘The English reported that German soldiers had to be hauled out of their beds in their bedclothes.’ The price of the Allies’ precarious foothold on French soil was fewer than 5,000 casualties. ‘Bloody’ Omaha cost the Americans 2,400 dead, wounded and missing, but the invading forces at Utah suffered fewer than 200 dead. The British lost 400 men at Gold, a further 630 troops were casualties at Sword, and the Canadians at Juno suffered 1,200 casualties. The German Army lost at least as many men defending the beaches and landing grounds that Tuesday.