The Danish model and actress, 54, gave PEOPLE an exclusive look at the little raven-haired beauty, who arrived safely in a Los Angeles hospital on Friday, June 22, weighing 5 lbs., 9 oz, and measuring 19 inches long.
“We are overjoyed to welcome our beautiful daughter into our lives,” Nielsen told PEOPLE. “It’s been a long road, and so worth it. We’ve never been more in love.”
Nielsen made headlines when she revealed on Instagram four weeks ago that — at age 54 — she was pregnant with her fifth child. She already has four other children, all boys: Raoul Meyer Jr., 23, Douglas Meyer, 25, Killian Gastineau, 28, and Julian Winding, 34.
Nielsen, who was married to actor Sylvester Stallone between 1985-1987, wed 39-year-old Dessi in July 2006. Daughter Frida is their first child together.
Earlier this month, Nielsen and Dessi celebrated his first Father’s Day as a dad-to-be.
The model and actress shared a new photo of the couple cradling her baby bump to celebrate the holiday. “You’ll be a great papà Ti amo #fathersday #daddy #love #family,” Nielsen captioned the selfie of the pair.
For more from on Nielsen’s baby joy, pick up the latest issue of PEOPLE, on newsstands Friday.