Price's music is available on streaming services including Spotify, Apple Music, Pandora, Napster, iHeartRadio and Amazon Music as of Sunday.
The late icon pulled his music from all streaming services except for Jay Z's Tidal in June 2015.
After Prince died of an accidental fentanyl overdose in April 2016, his estate was left without a specified heir.
Earlier this month Spotify hinted that Prince's music could return to streaming services.
Prince's estate established a publishing agreement with Universal Music Publishing after being placed under the administration of a Minnesota bank and Prince's siblings, according to Rolling Stone.
Prince's estate then sued to end Tidal's exclusive streaming rights last November.
This all reintroduced the possibility of including Prince's music on other streaming services.
Warner Bros. Records Chairman and CEO Cameron Strang released a statement thanking Prince's estate for making the deal possible.
"Prince recorded his most influential and popular music during his time with Warner Bros. and we are deeply aware of our responsibility to safeguard and nurture his incredible legacy," Strang said in a statement. "Warner Bros. is thrilled to be able to bring Prince's music to his millions of fans around the world via streaming services, fittingly on music's biggest night."
This release coincides with the 2017 Grammys. A tribute to the singer is also planned for Sunday night's ceremony.
Lastly, Warner Bros. Records announced plans to remaster "Purple Rain" and release two albums of previously unreleased Prince music.
The Associated Press contributed to this report.