Judge Arthur Gonzalez scheduled a hearing for 13 August, according to Reuters.
Daimler, which sold an 81.1% controlling stake in Chrysler to Cerberus, said the claim by a committee representing Chrysler unsecured creditors was baseless.
“This is completely without merit and we intend to defend ourselves vigorously,” Daimler spokesman Han Tjan told the news agency.
The New York court filing said creditors wanted to recover over $3bn (more than the $2bn paid to Chrysler’s secured creditors).
The group said that was equivalent to the value of certain unidentified Chrysler assets transferred in 2007 in the deal between Daimler and Cerberus.
Gonzalez in June allowed Chrysler to emerge from bankruptcy in a deal that gave operational control to Fiat.
Daimler purchased Chrysler in 1998.