Germany, which previously staged the event as West Germany in 1988, won the vote among 17 members of Uefa's executive committee.
While Turkey have yet to host a major global tournament Uefa president Aleksander Ceferin conceded the two nations made "very strong bids".
'The procedure was transparent and the vote was democratic and I believe every democratic decision is the right one.
Speaking from the podium in the aftermath of the decision Grindel said: "We will do all we can to meet all expectations".
"We will organise a huge football party in Germany".
The Turkish bid to organize the Euro 2024 offers not only one of the best tournament conditions for teams and spectators but brings people together by improving intercultural dialogue with help from its geopolitical location spanning two continents.
Former Bayern Munich and Germany skipper Philipp Lahm was the ambassador of Germany for Euro 2020 and played an instrumental role in pipping Turkey to win the hosting rights.
"This is saddening for UEFA and for Euro 2024".
In a two-horse race that also involved Turkey, the association's executive committee voted in favour of the German bid in Switzerland this afternoon.
Turkish Sports Minister Muharrem Kasapoglu called the outcome "sad" and implied that the loser in the bidding was not Turkey but the tournament itself, which would miss out on the experience of taking place in Turkey.
For Germany, it will be the first major worldwide football tournament in the country after the 2006 World Cup.
"In this sense we have lost nothing as a country".
With the 2020 championships set to be spread out a number of European cities, the 2024 edition will be the first hosted by an individual nation since France hosted the 2016 edition.