The Shinto-style ritual, performed by the chief priest of Ise Shrine in central Japan, considered the nation's most sacred shrine, was attended by 31 people, including the emperor and the empress.
The reception was attended by some 120 guests, including Sayako's parents as well as both her brothers Akishino and Crown Prince Naruhito.
Sayako was married in a simple white dress and pearls but changed into a beige-colored kimono for the reception. She followed Kuroda as the couple slowly walked around the guests' tables, greeting them.
An estimated 6,000 people turned out on the streets to watch the short motorcade from the palace to the hotel, cheering and frantically taking pictures of the princess.
The wedding took place as the government is considering changing the 1947 law, which also forbids women from ascending to the Chrysanthemum Throne.
Japan's royal family has not had a male baby since the 1960s, and there is no direct male heir to the throne. Sayako's older brother Naruhito and his wife, Princess Masako, have one child, a 3-year-old daughter, Aiko.
With opinion polls showing firm, widespread support for letting women reign, Japan is now on the verge of reverting back to the pre-1947 system that allowed eight women to assume the throne over the past 1,500 years.
Sayako's marriage to Kuroda marked the first time an emperor's daughter has married a commoner.
In 1960, her aunt Takako Shimazu got married to a man who was from a former aristocrat family. Japan's aristocracy was abolished under the 1947 Constitution.
Kuroda's family does not belong to prewar aristocrats.
