The family are said to be "delighted" with the news.
The new baby does not have a royal title and neither do Mr and Mrs Tindall. "The weight of the baby was 9lbs 3oz", the palace said.
The new baby, whose name is yet to be confirmed, will be 19th in line to the throne and the Queen's seventh great-grandchild.
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Mike Tindall, Zara Tindell and their daughter Mia Tindall pose for a photograph during day three of The Big Feastival at Alex James' Farm on August 28, 2016 in Kingham, Oxfordshire.
The sporting couple have been married for almost eight years and met during England's Rugby World Cup-winning campaign in Australia in 2003.
Zara and former rugby player Mike are already parents to daughter Mia, four.
They tragically lost a child in 2016 when Zara was pregnant, weeks after announcing they were expecting again.
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"The saving grace for us has been Mia, our daughter who is now 3", he shared.
Zara and Mike Tindall have welcomed a baby girl, Buckingham Palace has announced. "However down we feel she will come running up in our faces".
The baby is also a second cousin to Prince George, Princess Charlotte and Prince Louis. "I enjoy cooking, so it's nice to have time to do that as well".
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Teams don't reach the World Cup finals easily. " Real Madrid can interest me, everyone knows it". We don't want to say we will win but we have the quality to".