The 'Take It Off' singer announced on his website the daughter Dylan River Nichols was born on Tuesday (April 17).
Nichols said of Dylan's arrival: "We have been trying to have a baby together for many years, and this gift is not something we take for granted. We are going to try to be the best parents possible."
His wife Heather also expressed joy over the birth of her healthy baby, saying: "Our prayers have been answered. We went through years of loss and heartbreak to get to this point and now our little baby girl is here.
"I want to thank everyone for their well wishes, thoughts and prayers and our doctors and nurses who have walked alongside us in this process. I know that we are going to love this little girl, and I am so thankful that she is ours."
Joe and Heather met as teenagers, but didn't begin dating until several years ago. The couple married in September 2007.
The ACM nominee also has a 14-year-old daughter from a previous relationship.
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Watch Joe Nichols's 'Take It Off' music video below: