The “waka waka” star gave birth to a baby boy by cesarean section at a private hospital in Barcelona, the couple announced in a statement issued just before midnight.
It is the second son for the couple, whose son Milan celebrated his second birthday last week.
The Colombian star, 37 and Barcelona footballer, 27, have yet to reveal the name of their newborn.
The couple first met in the spring of 2010 when Piqué appeared in one of her music videos.
Shakira had an elective cesarean “without complications” at the Hospital Quiron Tecknon in Barcelona where she reportedly had reserved an entire floor to ensure privacy.
According to Vanitatis the birth was assisted by Dr Garcia-Valdecasas, nicknamed the “gynecologist to the stars” who was also present at the births of Spain´s Infanta Cristina´s four children, according to news website Vanitatis.