This is the first glimpse of the new baby princess as her proud parents, the Duke and Duchess of Cambridge presented her to the world.
William and Kate left the Lindo Wing at St Mary's Hospital less than 12 hours after the birth.
The smiling Duchess cradled her daughter in her arms and the baby, wrapped in a white shawl and wearing a bonnet, appeared fast asleep.
The princess royal - who is yet to be named - is the fourth in line to the throne.
Prince William earlier brought his son Prince George to meet his baby sister.
Kensington Palace tweeted afterwards "welcome to the family".
The Takasakiyama Natural Zoological Garden in Oita is now considering renaming Charlotte after complaints from the Japanese public.
Kensington Palace warning over 'harassment' around Sandringham where Kate and William are staying with princess Charlotte and prince George.
Naming the royal baby Charlotte Elizabeth Diana will be seen as a tribute to the Duke of Cambridge's father, mother and grandfather.