The teenager has been placed under the temporary guardianship of cousin TJ Jackson along with his siblings Paris and Blanket, following Katherine Jackson's sudden move to Arizona.
The 15-year-old posted an apparent screenshot of a text message between himself and several family members, demanding the return of his grandmother.
His message read: "This is enough so I am texting you for the simple fact that WE DEMAND TO SPEAK TO MY GRANDMA NOW!!!"
An alleged reply from Janet Jackson read: "Don't let them pls."
Prince Jackson continued in his tweets: "Although I am happy my grandma was returned, after speaking with her I realised how misguided and how badly she was lied to. I'm really angry and hurt.
"For this whole time, they denied us contact to our grandmother. If you continue with your lies I will continue with the truth."
He added: "As long as I can remember my dad had repeatedly warned me of certain people and their ways."
Katherine Jackson has insisted that she had not been kidnapped by some of her family members in relation to Michael Jackson's will.