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Prince Andrew's wife gave birth to a daughter at approximately 2000 BST at the Portland Hospital in central London.
The as-yet-unnamed baby, whose title is the Princess of York, weighed 6lb 12 oz.
Celebrations began as soon as details of the birth were posted on the gates of Buckingham Palace in keeping with tradition.
An impromptu street party was held outside the hospital held by crowds waiting for news.
The baby is the Queen's fifth grandchild and fifth in line to the throne.
In Context
The birth of the Princess of York was met by 41-gun salutes at Hyde Park and Tower Green.
The princess was not named for a few days - bookmakers were taking bets at odds of 3-1 on Victoria or Annabel, 4-1 on Elizabeth and 8-1 on Georgina or Georgiana.
The child was finally named Beatrice Elizabeth Mary.
On 23 March 1990 Princess Beatrice gained a sister when Princess Eugenie Victoria Helena was born, also at the Portland Hospital.
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