The tomb was discovered in 1999 inside a pyramid among the ruins of the Mayan city of Palenque in the hills of the southern Mexican state of Chiapas.
But until now archaeologists had not been able to access the vault believed to hold the remains of a Mayan ruler who lived between AD 431 and 550, the National Institute of Anthropologyand History said in a release on Thursday.
By dropping the small camera 16 feet (5 metres) deep through a small hole at the top of the pyramid, researchers were able to get the first view of the intact tomb.
"The characteristics of the funeral site show that the bones could belong to a sacred ruler from Palenque, probably one of the founders of a dynasty," said archaeologist Martha Cuevas.
The tomb's walls are painted in a rich red with paintings of Mayan figures. The Mayans flourished between AD 250-900 and Palenque is one of the most important Mayan archaeological sites.