The This Morning presenter's second child was born at 5.10pm on Thursday and weighed in at 5lbs 2oz.
In a statement from her management, Willoughby and her husband Dan Baldwin were said to be "thrilled and feel very lucky and can't wait for their son Harry to meet his little sister Belle".
Willoughby later tweeted her fans thanking them for their support and described Belle as "amazing".
Her friend, Radio 1 DJ Fearne Cotton tweeted: "So happy for my Holly dolly!! A gorgeous baby girl!"
Willoughby's co-host Phillip Schofield had kept fans informed of her progress on his Twitter feed since Tuesday when she missed the show amid confusion over whether she was about to give birth.
The star, who was due to go on maternity leave on Thursday, was replaced by stand-in Jenni Falconer.
Willoughby married Baldwin, who she met on children's show Ministry Of Mayhem, in West Sussex in August 2007.
She gave birth to her first child, Harry, in May 2009 and told viewers in January she was expecting a baby girl.
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