Nearly 170 lots of sculpture featured, including around 70 by sculptor Irena Sedlecka Atelier (b.1928), another Czech émigré, who shared Belsky’s studio.
Belsky modelled the busts from life over 30 years ago as part of a commission for the National Portrait Gallery.
The 13in (33cm) high bust of the Queen is one of nine, and had been exhibited on several occasions including at the Embassy of the Czech Republic in 1992 as part of the exhibition Czech and Slovak Sculptors in the UK.
Other casts reside in The Queen’s Gallery at Buckingham Palace and St Thomas’s Hospital in London.
The bust sold for £11,000 to a trade buyer against a £3000-4000 estimate.
Prince Philip’s bust, numbered three of five casts and bearing the mark of the Meridian Foundry in Australia, sold to the trade at £5200 (estimate £2000-3000).
Belsky arrived in Britain in 1940 with the remnants of the Czech army, five weeks after the Dunkirk evacuation.
He went on to become a major force in British sculpture, sculpting four generations of British royalty during his career, from the Queen Mother to a very young Prince William.
Other highlights from the studio included a 19in (48cm) resin maquette of the 1971 statue of Winston Churchill, which was created for Westminster College in Missouri to commemorate his famous ‘Iron Curtain’ speech made at the college gymnasium in 1946.
It sold to the trade for £2200 against a £600-800 estimate.
A more tepid response greeted the Sedlecka lots, with the top-seller a bronze relief called The Meeting in the Cabaret Lapin Agile, Paris. The 2011 work depicts well-known members the Parisian avant-garde scene including French writer and art critic Guillaume Apollinaire, and sold on bottom estimate at £1500.