Cinema 4D can automatically generate a project file for After Effects that can contain all of your image sequence pre-compiled and ready to go. The project is set to your render size and frame rate. This is the basic setup, including how to download and import the Exchange Plug-in necessary for your system. This technique really shines when it comes to Multi-Pass rendering though, you can import reflections, shadows and even lights and cameras on their own layers.
Related videos:
After Effects – Multi-Pass Layers
After Effects Project Setup in C4D