We introduce regular prehomogeneous vector spaces associated with an arbitrary valued Dynkin graph $(\Gamma, \boldsymbol{v})$ having a fixed oriented modulation $(𝔐, \Omega)$ over the ground field $K$. Here $K$ is of characteristic zero, but it may not be algebraically closed. We will construct a fundamental theory of such prehomogeneous vector spaces. Each generic point of a regular prehomogeneous vector space corresponds to a hom-orthogonal partial tilting $\Lambda$-module, where $\Lambda$ is the tensor $K$-algebra of $(𝔐, \Omega)$. We count the number of isomorphism classes of hom-orthogonal partial tilting $\Lambda$-modules of type $\mathbf{B}_n$, $\mathbf{C}_n$, $\mathbf{F}_4$ and $\mathbf{G}_2$. As a consequence of our theorem, we estimate lower and upper bounds for the number of basic relative invariants of regular prehomogeneous vector spaces for any valued Dynkin quiver.