A novel Penning-trap tower consisting of five compensated cylindrical Penning traps is developed for the PENTATRAP mass spectrometer at the Max-Planck-Institut für Kernphysik in Heidelberg, Germany. An analytical expression for the electrostatic potential inside the trap tower is derived to calculate standard Penning-trap properties like the compensation of anharmonicities and an orthogonal geometry of the trap electrodes. Since the PENTATRAP project described in the preceding article aims for ultra high-precision mass-ratio measurements of highly charged ions up to uranium, systematic effects for highly charged ions inside the trap tower are considered for the design process as well. Finally, a limit due to remaining anharmonic shifts at large amplitudes is estimated for the resulting geometry, which is important for phase-sensitive measurements of the reduced cyclotron frequency of the ions.