The 41-year-old "Mistresses" star welcomed daughter Elizabella Dylan Bugliari earlier today, her rep told ABC News. The baby weighed 7 pounds, 7 ounces.
"Mommy and baby are doing wonderfully," her rep said.
Milano and her husband, David Bugliari, are already parents to son Milo, who turned 3 in August.
Earlier in May, the former "Whose the Boss" star announced in dramatic fashion that she was having a girl!
In a video on her website, Milano told fans, "Hello, lovely people. I’m in my 'Mistresses' dressing room and I wanted to share with you guys that I am expecting a little sweet baby girl. And David, Milo and I could not be happier. Truly, we could not be happier. So exciting!"