Whenever someone departs from a proper literal (i.e. grammatical-historical) interpretation of Scripture much confusion ensues. The prophecies of the world kingdoms in Daniel 2, 7 and Revelation 17 are no different.

All three passages refer to the same topic but from two different perspectives. One perspective (used in Daniel 2 and 7) is giving a chronological listing of follow-on world kingdoms or empires from the present point (Nebuchadnezzer's time forward) it is not looking at the previous empires.

Revelation on the other hand is not only looking at the past (from the standpoint of describing world empires since the beginning of Israel) but also the present (from the standpoint of describing the current events in the Tribulation which is the context in which it is being discussed).

Like 99% of the rest of Scripture, Scripture is interpreted by Scripture. And with Daniel 2 and 7 the symbols being used are interpreted within that particular chapter. Praise God for having the foresight to not only allude to what was going to occur, but to then flat out tell us (assuming one takes Him and His Word at face value).

Daniel 2:

Let's start with Daniel 2:31-45, Nebuchadnezzer's dream of the statue. Nebuchadnezzer had a dream and decreed that all his magicians, astrologers, sorcerers and the Chaldeans to tell him not only what the dream meant, but what the dream was as well! (Dan 2:1-13) Since they could not, he was going to have them killed. Daniel prayed and God revealed the dream to him and he was to therefore relay it to Nebuchadnezzer which he does in Dan 2:31-36.

(Daniel 2:31-36, KJV)
31 Thou, O king, sawest, and behold a great image. This great image, whose brightness was excellent, stood before thee; and the form thereof was terrible. (sawest: Chaldee, wast seeing)
32 This image' head was of fine gold, his breast and his arms of silver, his belly and his thighs of brass, (thighs: or, sides)
33 His legs of iron, his feet part of iron and part of clay.
34 Thou sawest till that a stone was cut out without hands, which smote the image upon his feet that were of iron and clay, and brake them to pieces. (without...: or, which was not in hands)
35 Then was the iron, the clay, the brass, the silver, and the gold, broken to pieces together, and became like the chaff of the summer threshingfloors; and the wind carried them away, that no place was found for them: and the stone that smote the image became a great mountain, and filled the whole earth.
36 This is the dream; and we will tell the interpretation thereof before the king.

In Dan 2:37-45 Daniel goes on to interpret the dream for Nebuchadnezzer:

(Daniel 2:37-45, KJV)
37 Thou, O king, art a king of kings: for the God of heaven hath given thee a kingdom, power, and strength, and glory.
38 And wheresoever the children of men dwell, the beasts of the field and the fowls of the heaven hath he given into thine hand, and hath made thee ruler over them all. Thou art this head of gold.

We see in v38 the first thing...Nebuchadnezzer, the ruler of the Babylonian empire is the head of gold. In Dan 7:4 he is portrayed as a lion. He was used to destroy Judah and Jerusalem...as we continue...

39 And after thee shall arise another kingdom inferior to thee, and another third kingdom of brass, which shall bear rule over all the earth.

Verse 39 points out two more kingdoms. The first is inferior to Babylon in that it took two kingdoms to make one (in the image it is the silver breast and two arms). One arm represents Media and the other represents Persia. Looking at history we see that the Medo-Persian empire is the one who eventually overcame Babylon in 538 BC when they combined. In Daniel 7:5 this empire is portrayed as a bear.

Then a third kingdom which will rule following that. By looking at History we see the succession of world empires as Babylon, Medo-Persia then Greece. Each of which conquered the previous one. Under Alexander the Great the Grecian empire (Grecian-Macedonian) conquered much of the known world. In Dan 7:6 this empire is portrayed as a leopard. It later split into four parts, the last of which was finally conquered by the fourth kingdom in 30 BC.

This brings us to the fourth kingdom, Rome. The fourth kingdom may be described as one empire, covering two different time periods.

40 And the fourth kingdom shall be strong as iron: forasmuch as iron breaketh in pieces and subdueth all things : and as iron that breaketh all these, shall it break in pieces and bruise.

Verse 40 discusses the first time period. This version of the empire is Rome and the Roman Empire. It came into prominence in 146 BC. In about 364 AD the empire split into the east and west (representative of the two legs in the statue). Remember that Rome destroyed the Temple (AD 70) and Jerusalem (AD 135) and is the empire from which the antichrist will come (Dan 9:26 the prince to come). But that is not it for that empire we see it being revived in the future:

41 And whereas thou sawest the feet and toes, part of potters' clay, and part of iron, the kingdom shall be divided; but there shall be in it of the strength of the iron, forasmuch as thou sawest the iron mixed with miry clay.
42 And as the toes of the feet were part of iron, and part of clay, so the kingdom shall be partly strong, and partly broken.
43 And whereas thou sawest iron mixed with miry clay, they shall mingle themselves with the seed of men: but they shall not cleave one to another, even as iron is not mixed with clay.

With vv 41-43 we now fast forward to the latter times. From this version of the fourth kingdom much will come...the antichrist and the ten kings. This kingdom has elements of the three previous kingdoms (the lion, bear and leopard from Dan 7). The iron from the previous version of the fourth kingdom is present but now clay (a weak, binding material) is enjoined within.

Of note is two further divisions within the latter stage of the fourth kingdom...first is the two feet (possibly east and west?) and further the ten toes (representing the ten horns which are two kings of Dan 7:7; Rev 13:1, Rev 17:7,12). A brittle bond holds this union together and there is disunity as they will not cleave one to another .

44 And in the days of these kings shall the God of heaven set up a kingdom, which shall never be destroyed: and the kingdom shall not be left to other people, but it shall break in pieces and consume all these kingdoms, and it shall stand for ever.
45 Forasmuch as thou sawest that the stone was cut out of the mountain without hands, and that it brake in pieces the iron, the brass, the clay, the silver, and the gold; the great God hath made known to the king what shall come to pass hereafter: and the dream is certain, and the interpretation thereof sure.

In the days of these kings ...i.e. the Tribulation. The final world kingdom to be established by God with Christ, His Son, on the throne. He will shatter that final kingdom of man upon His return as seen in v45 as a stone cut without hands shatters the statue (the history of men's empires culminating with the antichrist's kingdom).

Daniel 7:

On to Daniel 7. In Daniel 7:1-15 we see that Daniel had a dream...one of prophetic significance as he would find out:

(Daniel 7:1-28, KJV)
1 In the first year of Belshazzar king of Babylon Daniel had a dream and visions of his head upon his bed: then he wrote the dream, and told the sum of the matters. (had: Chaldee, saw) (matters: or, words)
2 Daniel spake and said, I saw in my vision by night, and, behold, the four winds of the heaven strove upon the great sea.
3 And four great beasts came up from the sea, diverse one from another.
4 The first was like a lion, and had eagle' wings: I beheld till the wings thereof were plucked, and it was lifted up from the earth, and made stand upon the feet as a man, and a man' heart was given to it. (and it: or, wherewith it)
5 And behold another beast, a second, like to a bear, and it raised up itself on one side, and it had three ribs in the mouth of it between the teeth of it: and they said thus unto it, Arise, devour much flesh. (it raised...: or, it raised up one dominion)
6 After this I beheld, and lo another, like a leopard, which had upon the back of it four wings of a fowl; the beast had also four heads; and dominion was given to it.
7 After this I saw in the night visions, and behold a fourth beast, dreadful and terrible, and strong exceedingly; and it had great iron teeth: it devoured and brake in pieces, and stamped the residue with the feet of it: and it was diverse from all the beasts that were before it; and it had ten horns.
8 I considered the horns, and, behold, there came up among them another little horn, before whom there were three of the first horns plucked up by the roots: and, behold, in this horn were eyes like the eyes of man, and a mouth speaking great things.
9 I beheld till the thrones were cast down, and the Ancient of days did sit, whose garment was white as snow, and the hair of his head like the pure wool: his throne was like the fiery flame, and his wheels as burning fire.
10 A fiery stream issued and came forth from before him: thousand thousands ministered unto him, and ten thousand times ten thousand stood before him: the judgment was set, and the books were opened.
11 I beheld then because of the voice of the great words which the horn spake: I beheld even till the beast was slain, and his body destroyed, and given to the burning flame.
12 As concerning the rest of the beasts, they had their dominion taken away: yet their lives were prolonged for a season and time. (their lives...: Chaldee, a prolonging in life was given them)
13 I saw in the night visions, and, behold, one like the Son of man came with the clouds of heaven, and came to the Ancient of days, and they brought him near before him.
14 And there was given him dominion, and glory, and a kingdom, that all people, nations, and languages, should serve him: his dominion is an everlasting dominion, which shall not pass away, and his kingdom that which shall not be destroyed.
15 I Daniel was grieved in my spirit in the midst of my body, and the visions of my head troubled me.

Daniel 7:16-28 then interprets this dream:

16 I came near unto one of them that stood by, and asked him the truth of all this. So he told me, and made me know the interpretation of the things.
17 These great beasts, which are four, are four kings, which shall arise out of the earth.

Verse 17 tells us how we are to understand the symbols provided in the dream...much like the statue in Dan 2 these symbols are representative of successive world kingdoms:

18 But the saints of the most High shall take the kingdom, and possess the kingdom for ever, even for ever and ever.
19 Then I would know the truth of the fourth beast, which was diverse from all the others, exceeding dreadful, whose teeth were of iron, and his nails of brass; which devoured, brake in pieces, and stamped the residue with his feet;

As mentioned earlier the fourth beast (kingdom) is fierce (although not strong) but in examination has elements of the earlier kingdoms (iron, brass etc).

20 And of the ten horns that were in his head, and of the other which came up, and before whom three fell; even of that horn that had eyes, and a mouth that spake very great things, whose look was more stout than his fellows.

Of the ten horns (kings...toes from the earlier dream) three fell due to the little horn (antichrist...king of fierce countenance)...this may be the disunity due to the mixture of the iron and clay.

21 I beheld, and the same horn made war with the saints, and prevailed against them;

Of note here, the little horn "made war with the saints and prevailed against them". This is the same beast as in Revelation 13:7. So we see this vision confirmed by the vision John beheld regarding the end times.

22 Until the Ancient of days came, and judgment was given to the saints of the most High; and the time came that the saints possessed the kingdom.

The saints possess the Kingdom when Christ returns and establishes His earthly kingdom (Rev 20:4).

23 Thus he said, The fourth beast shall be the fourth kingdom upon earth, which shall be diverse from all kingdoms, and shall devour the whole earth, and shall tread it down, and break it in pieces.
24 And the ten horns out of this kingdom are ten kings that shall arise: and another shall rise after them; and he shall be diverse from the first, and he shall subdue three kings.
25 And he shall speak great words against the most High, and shall wear out the saints of the most High, and think to change times and laws: and they shall be given into his hand until a time and times and the dividing of time.
26 But the judgment shall sit, and they shall take away his dominion, to consume and to destroy it unto the end.
27 And the kingdom and dominion, and the greatness of the kingdom under the whole heaven, shall be given to the people of the saints of the most High, whose kingdom is an everlasting kingdom, and all dominions shall serve and obey him. (dominions: or, rulers)
28 Hitherto is the end of the matter. As for me Daniel, my cogitations much troubled me, and my countenance changed in me: but I kept the matter in my heart.

Verses 23-28 provide further details of the antichrist and the final kingdom during the end times.

For a clearer view of the comparison of Daniel 2 and Daniel 7 please consider the attached chart.

Revelation 17:

(Revelation 17:7-14, KJV)
7 And the angel said unto me, Wherefore didst thou marvel? I will tell thee the mystery of the woman, and of the beast that carrieth her, which hath the seven heads and ten horns.
8 The beast that thou sawest was, and is not; and shall ascend out of the bottomless pit, and go into perdition: and they that dwell on the earth shall wonder, whose names were not written in the book of life from the foundation of the world, when they behold the beast that was, and is not, and yet is.
9 And here is the mind which hath wisdom. The seven heads are seven mountains, on which the woman sitteth.
10 And there are seven kings: five are fallen, and one is, and the other is not yet come; and when he cometh, he must continue a short space.
11 And the beast that was, and is not, even he is the eighth, and is of the seven, and goeth into perdition.
12 And the ten horns which thou sawest are ten kings, which have received no kingdom as yet; but receive power as kings one hour with the beast.
13 These have one mind, and shall give their power and strength unto the beast.
14 These shall make war with the Lamb, and the Lamb shall overcome them: for he is Lord of lords, and King of kings: and they that are with him are called, and chosen, and faithful.

OK, let s now move forward to Revelation...the Revelation of Christ to be exact. In chapter 17 vv 7-14 we see yet another description of a succession of kingdoms. The difference now is that we are looking back until the beginning of Israel versus starting at Babylon and looking forward (as in Dan 2 and Dan 7). Of note is that prior to Bablyon there were two world empires entwined with the history of Israel, Egypt and Assyria. Knowing that fact we can now understand a bit more about Revelation 17:10:

10 And there are seven kings: five are fallen, and one is, and the other is not yet come; and when he cometh, he must continue a short space.

Five are fallen...looking at Dan 2 and 7 and having that tidbit of history we can now identify the 5 that have fallen: Egypt, Assyria, Babylon, Medo-Persia and Greece.

The next part is the one that is...what world empire was in existence when John wrote Revelation in 95-96 AD? Rome, with it representing the early part of the fourth kingdom in Dan 2 and 7.

So we are now at six world empires in clear view...what else occurs?

Well in Daniel 2 we see a continuation of that empire (from iron legs to iron/clay feet, i.e. the Roman empire) and in Dan 7 we see the parallel to the feet/toes and the rise of the antichrist...the other is not yet come...the latter part of the fourth empire.

This "latter part" is the "revived" Roman Empire and it is in existence and is the kingdom (setting the stage) of the seventh, the antichrist s kingdom (Dan 7).

Now recall that the antichrist is killed in the middle of the Tribulation (Rev 13:3) and when he rises he is powered by satan (Rev 13:5). Understanding this chain of events we now know why the final kingdoms are discussing the "beast that was, and is not, even he is the eigth and is of he seven". By the descriptions provided in Dan 7, Rev 13 and others we see that the antichrist/satan team are the 7th and 8th kingdoms. Also of note in Rev 17:11 and how this last beast goeth into perdition...what happens after Christ returns in Rev 19 and 20? The antichrist is tossed into the lake of fire and satan is first thrown into the bottomless pit for 1000 years and after which joins the antichrist in the lake of fire.

So basically the last three "kingdoms" are all versions of the "fourth" kingdom, Rome, just at various stages.

So, in sum, by keeping Dan 2, 7 and Rev 17 in proper context and using proper grammatical-historical interpretation we ve identified the parts of the statue in Dan 2, the beasts in Dan 7 and the kings (kingdoms) in Rev 17.

Resourses:
The Encyclopedia of Bible Prophecy; Kresge
The Defender Bible, Notes;
Charts of Bible Prophecy; House/Price