The first proposals to establish formal diplomatic relations and open the embassy in Belgrade came as early as September 1992, during talks between Croatian President Franjo Tuđman and FR Yugoslavia's President Dobrica Ćosić.

[1] The two countries established diplomatic relations on September 9, 1996, following mutual recognition after the end of the Croatian War of Independence and the signing of the Erdut Agreement.

[2] The embassy was eventually opened in the Archdiocese Palace, at Kneza Miloša Street 62, in the centre of Belgrade.

[3] In February 2022, a fire broke out in the residential building of the embassy in Senjak, which was extinguished by 21 firefighters.

[4] In November 2023, the Government of Serbia declared the first secretary of the Croatian embassy, Hrvoje Šnajder, a persona non grata.