When you say "ancient Judea", do you mean when it was a Roman province? Well, I'll start before that...

The word used for "king" in Hebrew is melek (מֶלֶךְ) from the semitic m-l-k root. This is used for kings of Egypt, of Assyria, Israel, Judah, et cetera. The easiest way to check how it is used is through Strong's concordance: https://www.quotescosmos.com/bible/bible-concordance/H4428-18.html

As you can see, it occurs in countless places. A not dissimilar titel is sar, which the Assyrians (Assyrian is a semitic language and thus related to Hebrew) used for "king" (e.g. sar sarrani - king of kings; melek melekim in Hebrew). In the Hebrew Bible this title is used in a weaker sense than melek, instead translating as chief, captain, head, commander, etc: http://biblehub.com/hebrew/8269.htm

Concepts of royalty and nobility do not always translate across cultures easily, but melek (it's the same word in Aramaic by the way) is what you are looking for in Hebrew. In Hellenistic and later times, Greek and eventually Latin come into play. The so-called Hasmonean kings, preceding Herod the Great, adapted the title "Basileus" from their Seleucid former overlords. Later, Herod was recognized in the Roman senate as a Rex Iuodaeorum (King of Judea) or Basileus ton Iuodaion in Greek. The ways Hellenistic influences shaped Judaean kingship is, of course, a complex question in its own right. The book "Herod's Judaea" by Rocca deals with this at length, if that's of interest.

I hope this answered your question!