Cleopatra had four children during her lifetime a son by Julius Caesar and three children by Mark Antony. Most of her children died young; her son by Caesar was murdered on the orders of Emperor Augustus, and her sons by Mark Antony were taken to Rome, where they too died at a young age. She had one grandson, Ptolemy of Mauretania , through her only daughter. Rome allowed him to rule the Kingdom of Mauretania.
Cleopatra's only grandson ruled his kingdom (located in present-day Algeria and Morocco) for quite a long time, until he himself was killed by the Roman Emperor Caligula. However, he married and started a family before he died. It is known that he had at least one daughter, whose name was Drusilla. And Drusilla married twice and had children of her own. Among her many descendants was Emperor Caracalla, among others.
We have a traceable bloodline of Cleopatra that continued 250 years after her death. Emperor Caracalla died without surviving descendants. But given the nature of kings and nobles, it is highly unlikely that none of them ever had mistresses, maintained courtesans, or fathered illegitimate children. Cleopatra likely has living descendants but we will never know them or be able to trace their ancestry.