The picture, which was posted on both the Swedish royal family's official Facebook page and Princess Madeleine's Facebook page, features the baby's footprint on the inside new dad Chris's forearm.
"I'm overwhelmed!" Madeleine captioned the photo, which garnered more than 10,000 likes within an hour of being posted.
The photo was released nearly 24 hours after the stunning Swedish royal gave birth to her first child.
"The Office of the Marshal of the Realm is delighted to announce that H.R.H Princess Madeleine gave birth to a daughter on February 20, 2014 at 10.41pm local time New York," announced the Swedish court.
The news that 31-year-old Madeleine had given birth received nealy 60,000 likes by fans on Facebook, as well as thousands of congratulatory messages.
On Friday messages of congratulations also came in from the couple's families.
"We know today both happiness and warm thanks," said King Carl XVI Gustaf and Queen Silvia as they congratulated the new parents. "Our joy is great. We wish now that Princess Madeleine and Christopher get peace and quiet and can take advantage of this unique time with her little daughter."
"I am very happy about my new granddaughter and I look forward to seeing her," said Chris's mother Eva-Maria O'Neill. "I wish her all the best in life.
Madeleine and Chris chose to welcome their daughter in New York, where they have been living for several years, but the special occasion certainly didn't go without pomp and ceremony in the princess' home country. A 21-gun salute was fired in Stockholm, as well as other locations across Sweden.