Bobby took to Instagram to confirm the news, posting a picture of himself and writing alongside 'Just had a baby girl 10 pounds'.
Bobby revealed the birth of his baby girl to his 87,500 followers
As of yet, Bobby and Alicia have not yet revealed their daughter's name, or shared a first photo of the newborn.
The couple announced that Alicia, a television producer, was pregnant with their third baby back in February, only seven months after the birth of their last child.
The 47-year-old's lawyer confirmed the news to American title People magazine after days of speculation by the New York Daily News.
The 'My Prerogative' hit-maker is father to seven children in total from four previous relationships, including his late daughter Bobbi Kristina, whose mother was Whitney Houston.
Bobby with Whitney and Bobbi Kristina
He has two children with his latest wife Alicia; six-year-old son Cassius and daughter Bodhi Jameson Rein, one.
Bodhi, which in Buddhism means enlightenment, is more commonly a name for boys. Actress Megan Fox, who starred in The Transformers series, and her husband, Desperate Housewives actor Brian Austin Green, chose the same baby name for their second son Bodhi.
Bobby's daughter Bodhi, who has a new sister!
Whilst the arrival of a new baby is always a joy, the news of the pregnancy came at a difficult time for the family, as Bobby's daughter, Bobbi Kristina's, sadly passed away in July 2015.
Bobby's other children are son Landon, who was born in 1989, daughter La'Princia, 27, and son Bobby Junior, 24, with girlfriend Kim Ward.
Bobby and Alicia got engaged in May 2010 when he proposed during a performance at the Funk Fest in Florida, and they later married in Hawaii in 2012.
The Boston-born star met ex-wife Whitney Houston at the Soul Train Music Awards in 1989 and married on 18th July 1992. They remained married until 2007.