His grandmother was Mary, Princess Royal, daughter of King George V and Queen Mary.

By his second wife, Elizabeth, daughter of King Stephen V of Hungary and Elizabeth the Cuman, Milutin had:

Mary was the daughter of King James V of Scotland, who died just after she was born.

Nicholas first married in 1292, with Richeza (died before 27 October 1308), a daughter of King Eric V of Denmark.

In 1444 Leonello married to Mary of Aragon, illegitimate daughter of King Alfonso V of Naples.

Her mother was the third and youngest daughter of King Frederick V of Denmark and his consort, Louise of Great Britain.

They were also heirs of Frederick III through an ancestress who was a daughter of King Frederick V of Denmark.

Ingeborg was born as the only legitimate daughter of King Håkon V of Norway from his marriage with Euphemia of Rügen.

Mary, Queen of Scots, daughter of King James V of Scotland and Marie de Guise.

His mother was Catherine of Hungary, the daughter of King Stephen V of Hungary.