The happy couple welcomed their first child, Julian Fuego, on Tuesday in Los Angeles, reports People.
The R&B singer canceled a portion of his Tuesday night concert at Staples Center saying it was for "personal reasons." His tour mate, Alicia Keys, later offered her congratulations on stage to a cheering crowd.
According to Thicke's rep, "Mother, father and son are all doing well."
The Precious star, 34, and Robin Thicke, 32, are high school sweethearts and will be celebrating their 5th wedding anniversary in June.