The singer was being strapped into a harness, intended to send her high above the stage, when it flung her forward into a barricade.
Moments after the injury at Nuremberg's Easy Credit Station, Pink reportedly told the crowd: "I'm not sure but I think I might have broken something... I'm very sorry I can't do the last song but thanks for coming."
She later tweeted from an ambulance: "I am so so so sorry to end the show that way. I am embarrassed and very sorry. I'm in ambulance now but I will b fine."
Pink has since advised she doesn't have any broken bones but is "just seriously sore".
The 30-year-old pop star is well known for her daredevil stunts, regularly performing acrobatics from harnesses or silks.
Watch amateur video of the accident below: