Royal couple Meghan and Harry have announced the birth of their second child in a short statement posted online Sunday afternoon (June 6).

In a message that thanked the myriad well wishers from around the world who sent messages of support to them, Meghan and Harry said they had been "blessed" by the arrival of a baby daughter.

"On June 4, we were blessed with the arrival of our daughter, Lili. She is more than we could have ever imagined, and we remain grateful for the love and prayers we’ve felt from across the globe.

"Thank you for your continued kindness and support during this very special time for our family," the statement read.

Lilibet Diana was born on Friday at 11.40am at Santa Barbara Cottage Hospital in Santa Barbara, California, and is now "settling in at home", the couple said.

She is the couple’s second child, after Archie Harrison Mountbatten-Windsor, who is aged two.

A press secretary added: "The Duke and Duchess thank you for your warm wishes and prayers as they enjoy this special time as a family."