I used to watch them when I was a kid in Kent. Saw a Tempest blow one up with cannon fire right over Tonbridge marshalling yards. First time I was ever aware of Doodlebugs was when it was lunch break at school and heard this thing tearing along around 2000 ft sounding like a chain-saw at high power. More followed later and saw one tip over when its fuel cut-out and went straight into a big house on side of a hill two miles from our school.
More frightening was the V2. First you knew of them was a gigantic explosion out of nowhere, followed a few seconds later by rushing noise which signalled its arrival - but a bit late.