A camera inside her small den showed Lun Lun very restless during early labor.
The cub was born at about 5:40 a.m.
Panda cubs are tiny at birth, about the size of a stick of butter.
Lun Lun checked on her cub, sat back and cradled the tiny newborn in her arms.
Zoo officials estimate the cub weighs three to four ounces.
The panda has not yet been named.