The couple, who married in 2001, documented their relationship in Ice Loves Coco, an E! reality series that aired from 2011 to 2013.
Ice-T, 57, has two children, Tracy Marrow Jr., and Letesha Marrow, from a previous relationship.
But the pregnancy is a first for Coco, 36, who once told E! News that she wanted to have children.
"I don't want to be like those 80-year-old women with no one around them," Coco said. "I want to have something I gave birth to early in life and be like, 'You can help me out now!'"
The pregnancy news comes just before the couple's Fox talk show, Ice and Coco, debuts in select markets on August 3.