Elisabeth and Ingrid also owe their positions to changes to the succession laws: but in their cases, unlike Margrethe's, they were born to the said positions because of constitutional amendments passed years previously.
Catharina would still be heir to the Dutch throne, even if the constitution had not been amended in 1983 to change the succession law to absolute primogeniture, since she has no brother. Had not the Netherlands previously amended the constitution (in 1923, to adopt male-preference primogeniture), the eventual successor to the throne would be her uncle Constantjin.
The Russian situation was quirky, since (as you say) neither Empress Catherine inherited the throne. The fact is that the agnates in question were not THEIR relatives; so I'm not sure if those examples really count ...
Elisabeth of Belgium, Catharina-Amalia of the Netherlands, Ingrid Alexandra of Norway and both Victoria and Estelle of Sweden will all be examples of women succeeding when there are male lines or even younger brothers available.
Denmark's Queen Margrethe II was the most recent example. When she succeeded her uncle prince Knud was still alive, so where his sons though they had married commoners and lost their succession-rights.
You missed out on Catherine I of Russia. She succeeded her husband while his male line grandson (later Peter II) was alive. So did Catherine II because her son Grand Duke Paul Petrovich was actually the first in line of succession to his father Peter III. Who inherited his rights through his mother Anna Petrovna.
Both Catherine I and II have the distinction of becoming Empress regnant without a drop of Romanov blood in their veins.
Mary Stuart married a male line of her own ancestor when she married Lord Darnley. His paternal line goes back to the 4 high steward. But that was before they became the royal line. Henry Darnley through his father descended from James III but in a female line.
I suppose you could list Margarita of Rumania as there are male line descendants of her father's older half-brother though they were never in line of succession.
What queens regnant in history managed to succeed, with or without contest, despite having relatives who were descended in legitimate male lines from the houses they belonged to?
Great Britain: the Stuart queens, Mary II and her sister Anne, were able to ascend the throne because their father (King James VII/II) was deposed during the Glorious Revolution and their half-brother (Prince James Francis) was deposed in the succession
Queen Victoria succeeded in 1837, despite having living uncles and cousins in the house of Hanover
Queen Elizabeth II succeeded in 1952, despite having a living uncle and cousins in the house of Windsor
Spain: Queen Isabel II succeeded in 1833, but her accession sparked the Carlist wars in the country, since her Bourbon uncle had expected to ascend the throne after the death of his brother, her sonless father (King Fernando VII)
Portugal: Queen Maria II succeeded in 1828, but her throne got usurped by her Braganza uncle Miguel. She eventually managed to get it back after he got deposed and exiled.
Have there been other examples in history?
I mention only these women because the other queens regnant, to the best of my knowledge, had no living legitimate agnates: King Henry VIII of England, for instance, had no surviving younger brother (much less nephew through him). Mary, Queen of Scots had only illegitimate male-line relatives.
Christina could not have become the queen of Sweden, if she had any legitimate paternal uncle or cousin in the house of Vasa living. None of the Russian empresses regnant (Elizabeth, Anne) could have succeeded either, had there been living legitimate agnates in the house of Romanov.
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