Australia Post is celebrating the recent birth of Princess Charlotte Elizabeth Diana to the Duke and Duchess of Cambridge with the release of a domestic base rate (70c) stamp that features an image of the Royal couple leaving St Mary's Hospital Paddington with their newborn daughter.

Australia Post Managing Director and Group CEO, Ahmed Fahour said: "Australia Post is delighted to celebrate the birth of a baby girl to the Duke and Duchess of Cambridge, with a sheetlet of stamps that captures the first public appearance of the happy family."

"We expect the stamp will be well received as was the royal birth of Prince George stamp in 2013. We encourage stamp collectors and followers of special events to put their orders in early to avoid disappointment."

Princess Charlotte was born on 2 May 2015 at 8.34am BST and introduced to the world the same day on the steps of the hospital, in the arms of her proud parents. Her Royal Highness Princess Charlotte of Cambridge will be fourth in line to the throne after Prince Charles, Prince William and Prince George.

The sons of Her Majesty Queen Elizabeth II – Charles, Andrew and Edward – were born at Buckingham Palace, while Princess Anne was born at Clarence House. Today, the preferred birthing facility used by the Royal Family is the Lindo Wing at St Mary's Hospital in Paddington. The baby's father Prince William was born there, as was her uncle, Prince Harry and brother, Prince George.

A notice of the birth was attached to an ornate easel in the forecourt of Buckingham Palace, with the media officially informed. There were royal gun salutes across London heralding the new arrival.

Princess Charlotte was christened on 5 July at St Mary Magdalene Church, Sandringham, by Justin Welby, the Archbishop of Canterbury.

The designer of the stamp is Jo Muré of the Australia Post Design Studio. The products associated with this stamp issue are a first day cover, sheetlet pack, maxicard, two postal and numismatic covers (one featuring a Royal Australian Mint coin and one featuring a Perth Mint coin), sheetlet of 10 x 70c stamps and a booklet of 10 x 70c self-adhesive stamps.

The Birth of a Princess stamp issue is available from 25 August 2015 at participating Post Offices, via mail order on 1800 331 794 and online at auspost.com.au/stamps while stocks last.