The driver of the car, a 38-year old Dutchman, survived the crash but sustained serious injuries.
Fire-fighters removed him from the wreckage of the car. Police then took him to hospital for medical treatment and questioning
Public prosecutor Ludo Goossens told journalists in Apeldoorn that the suspect's condition was life-threatening, and that he would be charged with murder and attempting to harm the royal family if he survives.
Police say the man confessed to attempting to ram the open-top bus carrying the 71-year-old queen as well as Crown Prince Willem- Alexander and his wife Maxima.
"There are no indications of terrorist links," Goossens said, nor were there any signs of explosives or a broader conspiracy.
Investigators searched the man's house to try and establish a motive. They said he had no record of mental illness or previous crimes.