They developed a surface-to-air missile system called enzian. Too little, too late. By the time enzian became operational the allies already had complete air superiority over Europe while Germany had already lost its resource and production capabilities need in order to mass produce them.

Legend is only 2 intact enzian rockets survived the war, one of which you can now see at an Australian museum.

If the Nazis would have put their chips on such weapons projects instead of focusing on ridiculous esoteric stuff they might have gotten a couple of years extra for their reign of terror.