The remains of the Kradordevic royal family had been buried outside Serbia after King Petar II fled the country when Nazis invaded Yugoslavia in 1941. He had ascended to the throne just 11 days earlier at age 17.
Petar never returned to Serbia and died in 1970 in the United States. Queen Aleksandra was buried in Greece, queen mother Marija in Britain and Prince Andrej in the United States.
The remains were transferred to Serbia, where a service was held Sunday at the royal family crypt at the Church of St. George in Oplenac near Belgrade, Serbian broadcaster B92 reported.
"Most people would say it's doing historical justice to a dynasty that was chased away from Serbia," historian Vladimir Dulovic told the BBC.
Serbian President Tomislav Nikolic, Prime Minister Ivica Dacic, cabinet members, members of the Kradordevic royal family, members of the diplomatic corps, Republic of Srpska President Milorad Dodik and numerous citizens were in attendance, B92 said.
Petar II's son, Alexander, often referred to as the crown prince, moved to Serbia in 2001.