The Duchess of Cambridge has given birth to her second child, a baby girl, at 8.34 this morning.

Both Catherine and the baby, who weighs 8lb 3oz, are 'doing well', a statement from Kensington Palace said.

The Duke of Cambridge was there for the birth.

The full statement from Kensington Palace read:

"Her Royal Highness The Duchess of Cambridge was safely delivered of a daughter at 8.34am. The baby weighs 8lbs 3oz. The Duke of Cambridge was present for the birth. The Queen, The Duke of Edinburgh, The Prince of Wales, The Duchess of Cornwall, Prince Harry and members of both families have been informed and are delighted with the news. Her Royal Highness and her child are both doing well."

The child, fourth in line to the throne and a sister to one-year-old prince George, was born at St Mary's Hospital in Paddington.

The couple emerged later the same day with the baby wrapped in a white woolen shawl and bonnet to pose for photographs on the steps of the hospital, a little over 12 hours after Kate arrived.

Kate cradled the sleeping princess in her arms as the couple waved to the cheering crowd, although they made no comment.

A few minutes later, Prince William carried the baby in a car seat to a waiting vehicle, and then drove his wife and new daughter the short distance to Kensington Palace.

Reporters and well-wishers have been camped outside for days, and betting agencies offering odds on everything from the date of birth, who will be holding the child when leaving the hospital and even what colour dress Kate would be wearing.

On Tuesday [28 April], the Duke and Duchess sent coffee and pastries to thank their fans waiting outside the Lindo wing of the hospital. Some have been there for over a week, including royal enthusiast Terry Hutt, who turned 80 on Thursday and has been coming to the hospital to see royal babies for the past 25 years. "I've seen them all come and go," he told the Daily Mirror. "I've seen them all grow up."

The Duke and Duchess recently celebrated their fourth wedding anniversary. They met at St Andrews University, and married at Westminster Abbey on 29 April 2011 before an estimated global audience of 300 million. The day was declared a bank holiday in the UK, and some 26 million Brits are thought to have tuned in to the ceremony live.

Prince George, third in line to the throne, was born on 22 July 2013, and the Duchess' second pregnancy was announced by Clarence House in September the following year. She has suffered from hyperemesis gravidarum, acute morning sickness, during both pregnancies, forcing her to cancel a number of official engagements. 

Additional reporting by Reuters