Mike Tindall and his wife Zara have sold the first pictures of their baby daughter Mia to Hello! Magazine.
Speaking to ITV News, rugby union World Cup winner Tindall said, "We did it because people wanted it and we had control over it.
We had those photos done anyway. It was more because people seemed to want it rather than anything else."
Buckingham Palace declined to comment on whether the Queen had been consulted over the photographs, which appear in this week's edition.
Olympic medal winning sportswoman Zara and former England rugby star Mike revealed that their daughter was "pretty relaxed and happy so far".
Mia Grace Tindall is the Queen's fourth great-Grandchild and was born on 17th January 2014. She is 16th-in-line to the throne.
Zara Phillips and Mike Tindall have sold the first pictures of their baby daughter Mia to Hello! magazine.
The Queen's fourth great grandchild, who is 16th in line to the throne appears on the front cover of this week's edition.
Dressed in a white striped baby gro, Mia, who was born on January 17, is pictured lying in front of her proud parents.
In 2008, Zara's brother Peter Phillips was criticised after selling photos of his wedding to Canadian bride Autumn Kelly to Hello! and reportedly receiving £500,000 in return.
A spokesman for Hello! said the magazine was 'delighted' that Zara and Mike Tindall chose to share their baby pictures with them.
For everyone who has asked what our daughters name, it’s Mia Grace Tindall
The baby's father Mike Tindall has announced his daughter's name via Twitter as Mia Grace Tindall. Mia is 16th in line to the throne.
Prince Harry paid tribute to the "unbelievable achievement" of his Walking With The Wounded teammates who completed the South Pole and appealed for help in getting them back in to employment.
The prince said: "If anybody out there has the ability or resources to give these guys and girls a stepping stone back into employment then please do. You certainly won't regret it."
Zara Philips and Mike Tindall have spent their first night at home with their daughter in Gloucestershire.
There's still no news from Gatcombe Park yet on what they've decided to call the baby but Mike Tindall has been tweeting that yesterday was definitely the best day of his life and that mother and baby are doing well.
Buckingham Palace said in a statement: "The Queen, the Duke of Edinburgh, the Princess Royal, Captain Mark Phillips and Mike's parents, Mr Phillip and Mrs Linda Tindall, have been informed and are delighted with the news. The baby's name will be confirmed in due course."
Zara Tindall has given birth to a girl at Gloucestershire Royal Hospital. Her husband, former England rugby player, Mike Tindall was by her side.
The baby is the Queen's fourth great-grandchild, and she is sixteenth in line to the throne.
The family have already returned to their home on the Gatcombe Park Estate.
Our Gloucestershire Corresponent, Ken Goodwin, is there:
Mike Tindall has tweeted his joy following the birth of his first child with his wife Zara. The couple's daughter, whose name is yet to be released, was born this morning weighing 7lbs 12oz.
Thanks so much for all your kind messages. Definitely the best day of my life today, so happy.! The girls are both doing great!
Princess Anne's daughter Zara Tindall has given birth to a girl at Gloucestershire Royal Hospital. The baby is the Queen's fourth great grandchild and weighed in at 7 pounds and 12 ounces.
Zara's husband Mike Tindall, the former England rugby star, was present at the birth.
Our Gloucestershire Correspondent Ken Goodwin was live at the hospital on our lunchtime news:
New mother Zara Tindall has returned home to Gatcombe with her daughter.
The newborn, whose name is yet to be released, was born at the Royal Gloucestershire Hospital weighing 7lbs 12oz.
Gloucester Rugby have tweeted their congratulations to player Mike Tindall and his wife Zara, who gave birth to a baby girl this morning: