The bundle of joy, weighing in at 7lbs., 1 ounce, is the first for Uchitel and husband Matt Hahn. The little one's name has not been released.
The 36-year-old TAO nightclub manager became a household name in 2010 when she was identified as the first of many mistresses for then-married Woods.
Rachel recently made a stint on the reality series "Celebrity Rehab with Dr. Drew," where she dealt with prescription medication and her self-described "addiction to love," but left the show one week into filming.
She has also appeared as a special correspondent for "Extra" and co-hosted on the nationally syndicated radio show "The Mancow Experience."
Uchitel an Hahn were married last October. She is currently receiving her forensic investigation license from DGA Detectives.
Rachel Uchitel, former mistress of golfer Tiger Woods, gave birth to "a healthy and beautiful baby girl" Tuesday at 5:04 PM, her rep confirmed to "Extra."