After the launch of the CHAMP and GRACE satellite missions, an increasing number of spherical harmonic models have become available for the long-, medium-and short-wavelength mapping of the Earth's gravitational field. In view of the need for a coherent comparison between such Earth Gravity Models (EGMs) and a detailed evaluation of their accuracy for various gravity field functionals, it is important to investigate the consistency of their inherent reference frames, especially when their use is intended for high precision studies. Following the methodology described in an earlier paper by Kleusberg (1980), the Helmert transformation parameters among the inherent reference frames for several CHAMP and GRACE models are estimated in this paper. In particular, the differences between the corresponding spherical harmonic coefficients for a given pair of EGMs are parameterized through a 3D similarity transformation model, whose weighted least-squares adjustment yields valuable information for the origin stability, the orientation consistency and the spatial scale variation between their underlying reference frames.