A rep for Del Toro confirmed that the actor welcomed a baby daughter on Sunday, reports Us Weekly.
The baby has not yet been named, but Del Toro's spokesperson said the girl weighs 8lbs 9oz.
Kimberly's parents, singer Rod and his ex-wife Alana, were reportedly present at the LA hospital for the birth.
Del Toro's rep first confirmed that he was expecting a child with Kimberly in April, but stressed that the two are not "a couple".
'Maggie May' singer Rod later declared he was excited for the arrival of his first granddaughter, insisting in May: "It's going to be good."
> Benicio del Toro's Wolfman to get second remake
Watch Benicio Del Toro in the Wolfman trailer: