"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.