It is the first ever female panda to be born in the Spanish capital, Efe news reported.
As per records, four male cubs have been born in the zoo: Chulin (1982), twins Po and De De (2010) and Xing Bao (2013).
Officials reported that the newest cub was born on Tuesday and it weighed 180 grams and was "very active and showed excellent vital signs."
Madrid's newest panda cub joined only 15 giant pandas currently residing in European menageries.
The new mother and her cub are to remain under the observation of specialists during the first "vital" week or the cub's life.
The latest success came about through collaboration between the Madrid Zoo and the Fundaci?n Parques Reunidos panda research programme.
Two panda specialists from Chengdu, China, were present to conduct medical assessments on the cub immediately after its birth.
Officials said they hoped the cub would be introduced to the public within the coming months.
Until then, the zoo planned to make information about the cub's life available through its social media outlets.
