Their first child, daughter Mia, was born in January 2014.
Zara gave birth to her second little girl, Lena, weighing 9lb 3oz in June 2018, at the Stroud Maternity Unit.
In March 2021, the couple welcomed their first son, called Lucas Phillip.
Zara has also spoken before about the two miscarriages she suffered.
Revealing the devastating news in an interview with the Sunday Times, she said: "For me, the worst bit was that we had to tell everyone – everyone knew. I had to go through having the baby because it was so far along. I then had another miscarriage really early on."
She added: "It was a time when my family came to the fore and I needed them. "You need to go through a period where you don't talk about it because it's too raw, but, as with everything, time's a great healer."
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How old are they?
Their first child, Mia Grace was born on January 17, 2014
Mia celebrated her eighth birthday in 2022.
Lena Elizabeth was born on June 18, 2018 and is four years old.
Initially, she was supposed to be named Elena, but they ditched the name last minute because Zara didn't want her initials to be "ET".
Their youngest child, Lucas, was born on March 21, 2021, making him one.
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When did Zara meet Mike Tindall?
Zara – born on May 15, 1981 – an equistrian and Olympic silver medallist, married former rugby star Mike Tindall – born on October 18, 1978 – in 2011.
The pair met during England's Rugby World Cup-winning campaign in Australia in 2003, when she was 22.
They were introduced to each other in a bar in Sydney by Zara’s cousin Prince Harry.
In 2010, they announced their engagement and married on July 30, 2011.
As required by the Royal Marriages Act 1772 – which has since been repealed – the Queen gave her consent to their marriage in a meeting of the Privy Council on 10 May 2011.
They live together at their home in Gloucestershire.
Who is Zara's mum Princess Anne?
The late Queen had four children herself: Prince Charles, Princess Anne, Prince Andrew and Prince Edward.
Zara's mother was born Anne Elizabeth Alice Louise on August 15, 1950, and has the title Princess Royal.
She married Captain Mark Phillips in 1973 but they divorced in 1992.
Anne married a second time in 1992 to Timothy Laurence.
Princess Anne had Zara Tindall, née Phillips, and Peter Phillips with Mark Phillips.
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Anne is known for being the busiest member of the Royal Family in regards to official engagements.
In 2017, she made 455 appearances at events, dinners and receptions around the UK, and did 85 engagements overseas.