Weighing 6 lbs., 11 oz. and measuring 18¼", the newest member of the Kennedy clan was born at 3:11 p.m. at the Atlanticare Regional Medical Center in New Jersey, where the family now lives.
The couple, who wed in 2011, already have a son, Owen, 18 months, while Amy has a daughter Harper, 5, from a previous marriage.
"Amy and I are thrilled to welcome Nora to our family and are thrilled that both mom and baby are doing well today," the son of the late Sen. Edward Kennedy said in a statement. "Harper and Owen are so excited to meet their baby sister."
Little Nora joins the Kennedy clan just days before the family remembers the 50th anniversary of the assassination of Patrick's uncle, President John F. Kennedy, on Nov. 22.
"This is an important year for the Kennedy family, especially this week as we remember President John F. Kennedy," the former congressman said. "As we celebrate the birth of our daughter alongside our wonderful families, we honor the memories of those never far from our thoughts and turn a bittersweet time a whole lot sweeter."