If you're thinking of royalty and grandeur:
* Common
* Humble
* Unpretentious
* Modest
* Plain
* Down-to-earth
If you're thinking of dignity and poise:
* Unrefined
* Boorish
* Crude
* Vulgar
* Uncouth
* Disrespectful
If you're thinking of authority and power:
* Submissive
* Weak
* Powerless
* Subordinate
* Unimportant
The best opposite for "regal" will depend on the specific context in which it's used.