Although the Coronavirus Disease 2019 (COVID-19) has been found to have multiple routes of transmission, limited data exist on whether the vertical transmission of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) can occur from asymptomatic infected mothers to their newborns during pregnancy. We report a full-term newborn girl who was found to be positive for COVID-19 at 24 hours of life and subsequently symptomatic with fever, tachycardia, tachypnea, elevated lactate dehydrogenase, and elevated total bilirubin. The newborn was delivered by a mother who was not suspected of having COVID-19 before giving birth, but who developed fever and dyspnea five hours after delivery and was found to be positive for COVID-19. Upon further history collection, the mother reported recent mild nasal congestion in the days prior to delivery. This case highlights that the vertical transmission of COVID-19 to a newborn may occur late during the third trimester from a mother who was not suspected of having the infection. All pregnant women may need to be screened for COVID-19 symptoms, including non-specific symptoms, prior to admission for labor and delivery floors in order to perform diagnostic tests and recommended safety precautions to keep newborns and hospital personnel safe.