לֹֽא־יָס֥וּר שֵׁ֙בֶט֙ מִֽיהוּדָ֔ה וּמְחֹקֵ֖ק מִבֵּ֣ין רַגְלָ֑יו עַ֚ד כִּֽי־יָבֹ֣א שילה [שִׁיל֔וֹ] וְל֖וֹ יִקְּהַ֥ת עַמִּֽים׃
홀이 유다를 떠나지 아니하며 치리자의 지팡이가 그 발 사이에서 떠나지 아니하시기를 실로가 오시기까지 미치리니 그에게 모든 백성이 복종하리로다
Rashi
לא יסור שבט מיהודה THE SCEPTRE SHALL NOT DEPART FROM JUDAH — Even after the house of David ceases to reign. For this refers to the Chiefs of the Exile in Babylon who ruled over the people with the rod (שבט) having been appointed by the government (Sanhedrin 5a; Horayot 11b).
Bekhor Shor
It comes to explain when the monarchy will come to him. And he said, "It should not come to your heart that you will be in poverty until the time of your monarchy, 'as the sceptre and rulership will not depart from you,' as they will always consider you great... ...
Chizkuni
לא יסור שבט מיהודה, “the rod (mace) will never leave Yehudah;” once the crown will be placed on a member of the tribe of Yehudah (King David), it will never be placed on the head of someone belonging to another tribe; (as opposed to the first King of Israel, Shaul, who had been unable to establish a dynasty.)