The couple welcomed the baby girl on Saturday (January 7) at New York's Lenox Hill Hospital. Blue Ivy is their first child.
While Beyoncé was first reported to have given birth via a scheduled Caesarean section, the 'Countdown' singer and husband Jay-Z have since clarified the circumstances surrounding the delivery, as well as giving further details about their daughter.
"[Blue Ivy] was delivered naturally at a healthy 7lbs and it was the best experience of both of our lives," they said in the statement.
"Her birth was emotional and extremely peaceful, we are in heaven. We are thankful to everyone for all your prayers, well wishes, love and support."
Beyoncé is said to have held a secret hospital meeting prior to the birth in order to ensure that she would evade media attention.
On Monday, Jay-Z unveiled a song for Blue Ivy to celebrate her birth.
> Michelle Williams tells fans to respect Beyoncé, Jay-Z privacy
Listen to Jay-Z's song 'Glory' written for Blue Ivy below: