She was related to them, the german royal families had many intermarriges. Don't forget that the British monarchs were also electors/kings of Hannover. By that marriage the house of grimaldi became related to many other royal houses. There was a previous one who was also very important, I think her name was Hypollite or something (or maybe it was one of her parents don't remember right now), she was a descendant of Hugh Capet and also of various english kings. Other than those two, the grimaldis had marriages more to their level. They have a very diluted family tree or family connections. I think Ranier is a 7th cousin of Elisabeth II and is because of that marriage.
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