Let $K$ be one of the complex classical groups ${\rm O}_k$, ${\rm GL}_k$, or ${\rm Sp}_{2k}$. Let $M \subseteq K$ be the block diagonal embedding ${\rm O}_{k_1} \times \cdots \times {\rm O}_{k_r}$ or ${\rm GL}_{k_1} \times \cdots \times {\rm GL}_{k_r}$ or ${\rm Sp}_{2k_1} \times \cdots \times {\rm Sp}_{2k_r}$, respectively. By using Howe duality and seesaw reciprocity as a unified conceptual framework, we prove a formula for the branching multiplicities from $K$ to $M$ which is expressed as a sum of generalized Littlewood-Richardson coefficients, valid within a certain stable range. By viewing $K$ as the complexification of the maximal compact subgroup $K_{\mathbb{R}}$ of the real group $G_{\mathbb{R}} = {\rm GL}(k,\mathbb{R})$, ${\rm GL}(k, \mathbb{C})$, or ${\rm GL}(k,\mathbb{H})$, respectively, one can interpret our branching multiplicities as $K_{\mathbb{R}}$-type multiplicities in degenerate principal series representations of $G_{\mathbb{R}}$. Upon specializing to the minimal $M$, where $k_1 = \cdots = k_r = 1$, we establish a fully general tableau-theoretic interpretation of the branching multiplicities, corresponding to the $K_{\mathbb{R}}$-type multiplicities in the principal series.