The British star, who won an Oscar for her portrayal as Queen Elizabeth II in 2006's "The Queen", got her star paved next to fellow British actor, reported Aceshowbiz.
"I couldn't be prouder and more happy that I'm actually going to finally lie next to Colin Firth, something I've been wanting to do for a very long time," Mirren said in her speech at the ceremony, which was also attended by playwright David Mamet and director Jon Turteltaub.
The 67-year-old actress got the 2,488th star since the Walk of Fame began in 1958.
Firth received his star in 2011 after winning an Oscar for starring as King George VI in "The King's Speech".
Wearing a blue dress and nude peep toes, Mirren jokingly said, "Well I'm very pleased and proud and I think it's very good for the British monarchy that here on Hollywood Boulevard, the King and the Queen are going to actually sleep together, for the rest of history."
Mirren's husband Taylor Hackford was also by her side during the event.
