Denise Richards is a mom again.
The 34-year-old actress gave birth Wednesday night at a Los Angeles hospital to daughter Lola, who weighed in at 6 lbs. 10 oz., Richards's publicist tells PEOPLE exclusively.
Richards's estranged husband, Charlie Sheen, was in the room with her when she gave birth. Mother and daughter are doing fine.
As for being a mom, Richards told PEOPLE last year: "No book can prepare you" for motherhood.
Richards and Sheen, 39, who also have a 15-month-old daughter, Sam, split in March amid reports that Sheen had resumed his hard-partying ways. Sheen has denied those stories.
Despite the couple's trouble, Richards has said she wants Sheen to be close with their kids. "Denise does want him to be part of the children's lives," a friend told PEOPLE in April. "She wants her kids to have a dad."
Just this week, representatives for both actors denied reports that Sheen had moved back into their Encino, Calif., home. Both sides, however, had long stated that Sheen would be present when the child was born.