Police doubled the number of officers they had on hand this year in an effort to reassure the public in the wake of the December 31 attacks primarily targeting women and blamed largely on foreigners.
Through Monday morning, police said they had recorded 542 criminal complaints, including 45 allegations of sexual offences, including rape.
Those numbers were roughly in line with 2015, when police said there were 50 sexual offences reported through the full five-day Carnival.
With strong winds predicted over a large swathe of western Germany, other cities, including Duesseldorf and Essen, called off their main Carnival processions entirely.
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The migrant crisis was reflected in Monday's Carnival floats, keeping in the tradition of topical themes.
One featured a caricature of Chancellor Angela Merkel standing in front of her signature quote of recent months, "We will manage it," and the words "tough nuts." At her side was a basket of nuts labelled "refugees."
And, reflecting concern over far-right violence, one float depicted a neo-Nazi as an octopus wrapping its tentacles around democracy.
The figure of Syrian President Bashar Assad as an angel of peace also wound its way through the city, joined on its float by Russian President Vladimir Putin and North Korean leader Kim Jong Un.
Other stories of recent months also played their part.