Zara Tindall is now a mother of two.
Tindall gave birth Monday, June 18 at Stroud Maternity Unit in Stroud, England. Mike, a 39-year-old former ruby player, was present for his daughter's birth.
"Mrs Michael Tindall was safely delivered of a baby girl on 18th June," the palace said.
The queen and her husband, Prince Philip, and Tindall and Mike's respective parents were said to be delighted with the news.
"The Queen, The Duke of Edinburgh, The Princess Royal, Captain Mark Phillips and Mike's parents, Mr Philip and Mrs Linda Tindall, have been informed," the palace said.
Tindall, an equestrian and former Olympian, is also parent to 4-year-old daughter Mia Grace with Mike.