There was a Nautilus that served in WW2. She was actually Pre WW2 though having been laid down in 1927 and had to be modernized in 1941.
I think that the German Type VII and IX and especially the Type XXI were better than the Nautilus Class. Hell the US had better boats with the GATO Class than the Nautilus.
For comparison:
SS-168 USS Nautilus
Laid down: 10 May 1927
Launched: 15 March 1930
Commissioned: 1 July 1930
Decommissioned 30 June 1946
Fate: sold for scrap
General characteristics
Displacement: 2730 tons surfaced, 4050 tons submerged
Length: 349 ft (106.4 m) waterline, 371 ft (113 m) overall
Beam: 33 ft 3 in (10.1 m)
Draft: 15 ft 9 in (4.8 m)
Speed: 17 knots (31 km/h) surfaced, 8 knots (15 km/h) submerged
Complement: 88 officers and men
Propulsion: four 1350 hp (1MW) M.A.N. diesels; two 1270 hp (950 kW) Westinghouse electric motors (240-cell Exide batteries)
Armament: 6 × 21 in (533 mm) torpedo tubes (four forward, two aft; 24 torpedoes, 8 external); two 6-inch (152 mm)/53 cal guns; two 0.30 in (7.62 mm) machineguns
Type XXI
First Submarine designed to operate completely under water
Displacement: 1621 t/1819 t, 2100 t full load
Length: 76.7m (251ft 7.7in) overall, 60.5m (198ft 5.9in) pressure hull
Beam: 5.3m (17ft 4.7in) pressure hull, 8m (26ft 3in) overall
Draft: 6.3m (20ft 8in)
Height: 11.3m (37ft)
Propulsion: 4000 hp (3 MW)
Speed: surfaced = 15.6 kt (29 km/h), 4400 hp (3.3 MW) submerged = 17.2 kt (32 km/h)
Range: 15,500nm at 10 kt (28,675 km at 19 km/h) surfaced, 340 miles at 5 kt (630 km at 9 km/h) submerged
Crew: 57
Below are pics of the Nautilus and a Type XXI.