Servius was the slave-boy, Mastarna, who was adopted by Lucius Tarquinius Priscus. He instituted the taking of the census - the citizens were ordered to register their names and give a monetary valuation of their property. He also ensured that the rich would pay more taxes than the poor: every man's contribution should be proportionate to his means. Servius also divided the population into six 'classes': the richest in the first class and the poorest in the sixth class. All free residents were made liable to military service and were granted political rights.

Servius consolidated his power quite as much by his private as by his public measures. To guard against the children of Tarquin treating him as those of Ancus had treated Tarquin, he married his two daughters to the scions of the royal house, Lucius and Arruns Tarquin.

Servius had been careful to form ties of hospitality and friendship with the chiefs of the Latin nation, and he used to speak in the highest praise of that co-operation and the common recognition of the same deity: Diana.

Servius was thrown down the stairs of the senate by Tarquinius Superbus and stabbed to death on Cyprus Street, later called the Street of Sin, in 534 B.C. His daughter Tullia was riding in her carriage when she saw her dead father in the street. Instead of stopping, she had the driver run right over his body. Her husband and future king of Rome, Lucius Tarquinius Superbus, murdered Tullia in 535 B.C

Servius Tullius reigned forty-four years, and even a wise and good successor would have found it difficult to fill the throne as he had done. The glory of his reign was all the greater because with him perished all just and lawful kingship in Rome.