"To try put into words how I am feeling right now would be an impossible task. The love I feel for this tiny human is beyond my understanding. Grateful to know her, proud to call her mine," Malik wrote on Twitter.
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He shared a black and white image featuring Malik and their daughter holding hands. Hadid also shared a similar photo on Instagram, with the caption: "Our girl joined us earth-side this weekend and she's already changing our world. So in love."
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Neither parent revealed the baby's name.
The supermodel confirmed her pregnancy in April. It is Hadid's first child with boyfriend Malik, a former member of One Direction.
Hadid, 25, and Malik, 27, have been dating off-and-on for several years. She has become one of the world's most in-demand models and he was the first to leave One Direction to set out as a solo artist.