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Mekhi Thira Phifer was born in Los Angeles on Tuesday at 6:47 a.m., and weighed 5 lbs., 4 oz.
"We are really happy and excited," the couple tells PEOPLE. "He is beautiful."
The boy joins Omikaye, the actor's 8-year-old son from a previous relationship.
The couple showed off their son's green-themed nursery to some 200 friends – including Don Cheadle and others – at their baby shower earlier this month.
"This is just the start of the tribe," Phifer, 32, told PEOPLE at the shower. "I want to have four or five kids."
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