Nick and Vanessa Lachey Welcome Son Camden

"We are incredibly proud to announce the birth of our beautiful baby boy, Camden John Lachey," the couple tell PEOPLE in a statement.

"Born today at 6:54 p.m., he came into this world at 8 lbs., 9 oz. and 21 inches. Love has truly been redefined for both of us."

The couple, who married in July 2011, announced the pregnancy in March. In July, Wipeout host Vanessa, 31, revealed that they were expecting a boy.