The former Spice Girl looked happy and relaxed as she cuddled her dozing daughter during time off from Mel's hectic The X Factor Australia schedule. She is one the judges.
Joining mother and baby were Mel's husband and Madison's father, Stephen Belafonte, and Mel's middle daughter Angel, four, from her brief relationship with actor Eddie Murphy.
Mel, 36, looked radiantly content as she held a sleep Madison on her lap while Angel made sandcastles and Stephen sat in between them chatting away and occasionally holding Madison and showering her with kisses.
In a recent interview, she said: "I had a rocky marriage with Phoenix's dad. The relationship with Angel's dad was over halfway through the pregnancy, and I had to suck it up and get on with it."
"This time I've done it with my partner - someone to get excited by every scan - and it feels like I've finally done it right."
Mel and the family - including oldest daughter Phoenix, 12, from her first marriage to dancer Jimmy Gulzar, have all relocated from Los Angeles to Sydney while filming continues.
In between the hectic filming schedule, Mel is already trying to get rid of her pregnancy pounds. Last week she tweeted: 'Just ran 5miles that's 8.8kms on my 7 day training in 10 months after having my baby 4 weeks ago, now come on my peeps let's get the fat off.'