The blonde socialite gave birth to a girl, her child with actor Benicio del Toro, on Sunday (21.08.11) at a Los Angeles hospital, and her rocker dad Rod Stewart and his wife Penny Lancaster-Stewart were at the hospital for the delivery.
The baby - who is yet to be named - weighed a healthy 8lbs 9oz and was also welcomed at the hospital by the 32-year-old star`s mother Alana Collins, Rod`s first wife.
Although Kimberly and Benicio are now proud parents they are not a couple.
In April, `The Wolfman` star`s representative Robin Baum confirmed Kimberly was pregnant with the 44-year-old actor`s baby.
Robin said: "Benicio is the father and very supportive. Although [he and Kimberly] are not a couple, they are looking forward to the arrival of the baby."
Kimberly`s father Rod welcomed his eighth child into the world in February when Penny gave birth to their son Aiden, and the 66-year-old musician recently admitted he was very excited about his daughter`s pregnancy because he has been waiting "so long" to become a grandparent.
He explained: "I`m going to be a grandfather, I`ve been waiting for that for so long - that and getting my bus pass - the two things I was looking forward to getting."