A publicist for the 38-year-old actress says Milano gave birth to a seven pound baby boy Wednesday morning: Milo Thomas Bugliari.
This is the first child for Milano and her husband, David Bugliari, who wed in August 2009.
Milano wrote on her Twitter page Wednesday that her heart "has tripled in size" and that she loves her new son "more than all the leaves on all the trees."
Milano starred in TV's "Who's the Boss?" and "Charmed" and can next be seen on screen in the ensemble comedy "New Year's Eve." Bugliari is an agent with Creative Artists Agency.