The High Energy Stereoscopic System (H.E.S.S.) has been searching for counterparts of Gamma Ray Bursts (GRBs) for many years. In 2012 the system was upgraded with a fifth 28 m diameter telescope (CT5) which is equipped with faster motors for rapid repointing, marking the start of the second phase of H.E.S.S. operation (H.E.S.S. II). CT5s large light collection area of $600\,\mathrm{m}^{2}$ improves the sensitivity to low-energy gamma-rays and even extends the energy range below 100 GeV. The search for counterparts continues now in the energy range of tens of GeV to tens of TeV. A detection in this energy range would open a new window to the part of the spectrum of these highly energetic explosions which Fermi-LAT has only successfully detected in a reduced subset of events, with rather limited statistics. In the past years, H.E.S.S. has performed follow-up observations based on GRB detections by Swift-BAT and Fermi-GBM/-LAT. This Target of Opportunity observation program was carried out with a generalised Target of Opportunity Alert system. This contribution will highlight key features of the Target of Opportunity Alert system, present follow-up statistics of GRBs as well as detailed results of promising follow-up observations.