The longtime Dutch monarch was welcomed by King Albert II, Queen Paola, Crown Prince Philippe and Princess Mathilde at the historic market square in the heart of the port city.
Beatrix inspected an honor guard and visited the nearby city hall before heading to Brussels, where she laid a wreath at the tomb of the unknown soldier.
During the welcome ceremony, several Flemish separatist protesters demanding the break-up of Belgium were detained by police after shouting chants and throwing flyers near where the royals were greeting onlookers.
Joining Beatrix on her trip were Crown Prince Willem-Alexander and his wife Princess Maxima. The Dutch prince copiloted the government jet that took the visitors to Antwerp, the AP reports.
Willem-Alexander and his wife were to leave Belgium after a gala dinner at the royal palace in Brussels, heading to Germany to watch the Netherlands-Argentina World Cup match on Wednesday, Belgian press reported. Princess Maxima comes from Argentina.
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