As far as I know, there were no surface-to-surface or surface-to-air missiles produced in World War 2. Were there at least any prototypes?
Surface to surface may depend on semantics. I believe the distinction between a missile and rochet is that the latter has some sort of guidence system. So depending on what you call a guidence system the V-1 may actually be considered a guided weapon. Here are some pages on the topic which may help you in more detailed research. List of World War II guided missiles of Germany - Wikipedia, the free encyclopedia Important Early Rockets and Missiles Guided Missiles - MSN Encarta German rocketry during World War II
Here is a link to the rockets and missles employed by Germany, near the end of the war they had at least the prototype of a SAM; the Wasserfal (sp?) Missiles Of course the air to ground rockets were employed by both the allies and the axis, and surface to surface as well. The Allies had little use or need for SAMs as the war dragged on, but the Nazis certainly needed them when the war was being brought home to them 24/7 from the air.
The Germans developed something very close to a SAM with the wasserfall. Also the USN was looking hard for a way to make AA fire more effective against kamikaze attacks and would have welcomed some sort of SAM. Wasserfall - Wikipedia, the free encyclopedia
The Germans used something called "timed rockets" on their fighters late in the war, 1944-45. This was an unguided rocket with a large explosive warhead, designed with a range just outside American bomber's 50 caliber - the idea was to fire it into the midst of an American formation after which it would blow up after a certain time, hopefully taking a bomber or two as it did so. The warhead was fairly large and one of these rockets exploding near a B-17 or B-24 was just about as powerful as a flak burst at the same range. There are many accounts of bombers being downed by the weapon and the only counter was escorting US fighters. that is the closest thing to an air-to-air missile that actually saw combat use, that anybody had in WW2, so far as i've read about.
AFAIK there were two different air2air German rockets, neither had a guidance system. The Werfer-Granate 21 (Wfr. Gr. 21) was used in large tubes from 1943 on and is probably the weapon you describe. The smaller R4M rocket came later and was designed to hit heavy bombers from outside defensive armament range, and the forerunner of later weapons like the US FFAR "mighty mouse". It was used in limited quantities, on most late war german interceptors and each plane carred six or more not just two like the Wfr. Gr. 21 .
The Germans had in development and tested several SAMs including Schmetterling and Wasserfall but didn't get any into service. The US Army started development in mid 1944 of a SAM system that eventually became Nike post war. Likewise, the USN started development of a SAM ship defense missile system under projects Typhoon (the radar and fire control) and Bumblebee (the missile). Post war this became the Talos SAM system. Both the Germans and US also had various missiles for air to air use in development. The German X-4 was a wire guided system that got no further than a few prototypes being fired in tests. In the US Hughs missile division was developing the JB 3 Tiamat. This evolved into the GAR 1 / AIM 4 Falcon post war. So, there was stuff in progress but it didn't actually get into operational service before the war ended.
