Former Hollywood couple Denise Richards and Charlie Sheen have welcomed their second daughter into the world.

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Richards gave birth in Los Angeles Wednesday to 6-pound, 10-ounce Lola, with estranged hubby Sheen at her side, People magazine reported Thursday.

"We're thrilled to finally meet our beautiful daughter," the couple said in a statement. The couple were already parents to 15-month-old Sam.

Richards, 34, filed for divorce in March after three years of marriage, citing irreconcilable differences.

Richards is best known as a former Bond girl while Sheen stars in the CBS comedy "Two and Half Men."