Former rugby star Mike revealed the news on Twitter. "For everyone who asked what our daughter's name is, it's Mia Grace Tindall," he wrote on Thursday.
The Queen's fourth great-grandchild was born on Friday morning at an NHS hospital in Gloucestershire weighing weighed 7lbs 12oz (3.5 kg).
"Mrs Michael Tindall today safely delivered a baby girl at Gloucestershire Royal Hospital. Mr Tindall was present at the birth," a palace statement released on Friday morning read.
"The Queen, The Duke of Edinburgh, The Princess Royal, Captain Mark Phillips and Mike's parents, Mr Phillip and Mrs Linda Tindall, have been informed and are delighted with the news."
The little girl, who is the Queen's third great-grandaughter, will be a playmate for Prince William and Kate Middleton's son Prince George.