His memoirs first appeared in 1951 under the title "Ich habe Adolf Hitler verbrannt" ("I cremated Adolf Hitler"). In 1975, it was reissued with a foreword by author and former member of the Leibstandarte SS Adolf Hitler Erich Kern under the title "Die letzten Tage mit Adolf Hitler" ("The Last Days with Adolf Hitler"). An English edition of the book was published in 2010 by Frontline Books-Skyhorse Publishing, Inc., under the title "I was Hitler's Chauffeur: The Memoirs of Erich Kempka", with an introduction by historian Roger Moorhouse.