Universal Motown Records Group, the singer's record label, says the baby was born Sunday and both mother and daughter "are doing fine." The father is Badu's boyfriend, rapper Jay Electronica.
The couple blogged about the birth on the Twitter Web site. Badu said she had a home birth that lasted about five hours and that she didn't use painkillers.
Badu, whose real name is Erica Wright, has a son and a daughter from previous relationships.
She released her fourth studio album, "New Amerykah, Part One (4th World War)," last year. "Part Two" will be released this month.
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