Taking to Twitter to share the happy news with fans on Wednesday morning, the 40-year-old star wrote, "Now that I have had the opportunity to tell Junior & Pringles, we are very happy to announce the safe arrival of our beautiful baby girl :)
"We are extremely thrilled and mum and bubba are doing fine. We are looking forward to a nice quiet couple of weeks getting to know our baby. Thanks to everyone at the Musgrove Park Hospital :)"
The confirmation comes hours after a number of Twitter users reported seeing Peter and Emily, 23, at the Taunton hospital with their newborn baby girl on Tuesday evening.
One fan announced, "Peter Andre is in the hospital I work at with Emily and his baby daughter omg."
The Somerset County Gazette also received a tip-off from a member of the public to say that their daughter's friend, who was giving birth at the hospital, saw the celebrity couple.
The happy new parents announced they were having a baby together in July after about a year of dating.
While it is Emily's first child, Peter is already a proud father to daughter Princess and son Junior with his ex-wife Katie Price.