The baby is the first for Cole, 28, and her fiance Daniel Gibson, a professional basketball player and member of the Cleveland Cavaliers. The couple reportedly has been together for about a year.
"Both mother and baby are doing great," Cole's publicist, Tresa Sanders, told E! News. "Keyshia would also like to give a special thank you to her fans that have been with her since the beginning, sharing in her growth as a woman and an artist."
People.com said Daniel Jr. was born at 11:54 p.m. Tuesday, and weighed in at 7 pounds, 3 ounces.
Where the baby was born was not reported.