Alwyn Stockdale also sexually assaulted a second young boy at a relative’s home. One lad was ten, the other under 14.
Retired Stockdale, 81, admitted the attacks, which took place in the 1970s.
But the paedophile died in hospital last week after prosecutors told police to charge him with crimes dating back to the 1970s.
It took 19 months for Met officers to trace Stockdale after a man in his 50s revealed the pervert assaulted him when he was ten.
At the time Stockdale lived in Royal Household quarters at Buckingham Palace Mews.
It is understood that when interviewed Stockdale, who later lived in a cottage on the Windsor estate, confessed to abusing the boy and another lad under 14.
He was to be charged with indecently assaulting one boy and three offences of gross indecency relating to the second.
However, Stockdale died of natural causes before being notified of the prosecution.
One of the boys was attacked at the West Yorkshire home of a relative who also worked as a royal servant. The family member was unaware of the crime.
The other is thought to have been abused at Stockdale’s Palace quarters.
A source said: “The victims are understandably upset that Stockdale will not face justice. They’ve lived with what he did all their adult lives.’
“There are questions over why it took so long for police to identify and get round to questioning Stockdale.
“Given his age, it was a race against time to bring him to justice.
“But like Jimmy Savile and the MP Cyril Smith, he died before that could happen.’’
Buckingham Palace refused to comment.
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