Police also took a suspect into custody.
CNN said the infant was in good condition at a Lubbock hospital.
Acting on a tip, police found the baby lying on a car seat in front of a condominium complex. Officers arrested 33-year-old Stephanie Lynn Anderson Jones on kidnapping charges, CNN said.
Earlier, a woman posing as a nurse reportedly abducted the 4-day-old infant girl from her home, forcing police to issue an amber alert.
Police said the infant named Priscilla Nicole Maldonado had been diagnosed with jaundice needing nurse care.
She was last seen Sunday with a woman calling herself Lisa Stewart, police said.
The woman apparently had told the infant's family that she was a nurse at University Medical Center, the hospital where the infant was born, and had earlier visited Priscilla and her mother in the hospital room several times, police said.
The mother told police that prior to leaving the hospital the woman had asked for her address, so she could give her a swing and some other articles for the baby.