Kralice nad Oslavou consists of two municipal parts (in brackets population according to the 2021 census):[2] The village was originally named Králice.

The name is derived from the Czech word král ('king'), meaning "the village of king's people".

It lies mostly in the Křižanov Highlands, but the southern part of the municipal territory extends into the Jevišovice Uplands.

[3] A secret printing shop of the Unity of the Brethren was hidden in the Kralice Fortress, in which the Bible of Kralice, the first complete translation of the Bible from the original languages into the Czech language, was printed between 1579 and 1593.

Remains of walls and cellars have been preserved, which were discovered during an archaeological survey.