German text in the Gesangbuch:
1 Aus Lieb läßt Gott der Christenheitviel Gutes widerfahren,aus Lieb hat er ihr zubereitviel tausend Engelscharen,darum man fröhlich singen mag:Heut ist der lieben Engel Tag,die uns gar wohl bewahren.2 Sie lagern sich, wenn kommt die Noth,in Eil gefaßt sich machenund reißen die, so fürchten Gott,aus ihrer Feinde Rachen,darum man fröhlich singen mag:Heut ist der lieben Engel Tag,die immer für uns wachen.3 Sie führen auf den Straßen wohldie Großen samt den Kleinen,daß keiner Schaden leiden sollan Füßen oder Beinen,darum man fröhlich singen mag:Heut ist der lieben Engel Tag,die uns mit Treuen meinen.Dr. G. Reimann, +1615.
My prose translation:
1 Out of love, God letsMuch good happen to Christendom;Out of love He has prepared for itMany thousand companies of angels;Therefore one may sing cheerfully:To-day is the day of the dear angels,Who protect us very well.2 They position themselves when distress comes,Prepare themselves in a hurryAnd snatch those who fear GodOut of the revenge of their enemies;Therefore one may sing cheerfully:To-day is the day of the dear angels,Who always keep watch for us.3 They lead well on the streetsThe great along with the small,So that no one should suffer injuryTo foot or leg;Therefore one may sing cheerfully:To-day is the day of the dear angels,Who regard us with faithfulness.Dr. G. Reimann, +1615.
The lines "daß keiner Schaden leiden soll / an Füßen oder Beinen" ("So that no one should suffer injury / To foot or leg") in the third verse seem to refer to Psalm 91:11-12: "11 For he will command his angels concerning you to guard you in all your ways. 12 On their hands they will bear you up, lest you strike your foot against a stone." The phrase "Füßen oder Beinen" contains plurals ("Feet or legs"), but I translated them as singulars.
I translated "meinen" in the same verse as "regard" based more on the context than anything else. In other circumstances, I would translate it as mean or think, but those didn't seem to fit here.
As far as I can tell, this hymn isn't in The Lutheran Hymnal, Lutheran Worship, or The Lutheran Service Book. According to the Gesangbuch, the text is sung to "its own tune."