Kym announced the news by sharing an Instagram photo of the investor and Shark Tank star holding their two babies in his arms.
"I never thought my heart could feel so full," Kym captioned the adorable picture. "We're so in love with our little angels. Born at 7.44AM and 7.45AM 4/23/18."
Kym told Us Weekly in January that her husband had planned a baby shower for her in Australia ahead of the twins' arrival.
"[Robert] is the best. He spoiled me with a trip back home to Australia to see all my girlfriends," the pro dancer gushed to the magazine.
"There was a little baby shower and saw my family and stuff so that was nice. I feel really good. I've been keeping active and I think I'll probably slow down now. I'm in the last trimester. I feel like I'm about to explode."
Kym has been documenting her pregnancy on social media for months now, proudly showing off her baby bump.
Kym confirmed in December 2017 that she and Robert were expecting. And then in early April, the couple revealed they had a baby boy and a baby girl on the way.
Kym and Robert met and seemingly fell in love onDancing with the Stars' 20th season in Spring 2015 when they competed as a professional and celebrity pairing. They continued to date once the competition wrapped and they finished the season in sixth place.