Housed in a historic school building constructed in 1873, the museum moved into this location after the Kraljevo Municipal Assembly transferred ownership in 1985.

[2] The building underwent extensive renovations, with the first phase completed in 1995, adding a large, representative gallery.

[2] The final phase, completed between 2002 and 2005, expanded the museum to a total area of 1,270 square meters over four levels.

[2] The museum is located across the street from the local archive and next to the Church of the Holy Trinity.

Together with the Historical Archive of Kraljevo the museum publishes peer reviewed annual journal Naša prošlost.