D'Angelo had a baby with the late R&B singer Angie Stone. They had a son together named Michael Archer Jr., born in 1997. D'Angelo also had two other children: a daughter named Imani Archer, born in 1999, and a son named Morocco, born in 2010. Angie Stone and D'Angelo were romantically involved in the 1990s before their separation. Angie Stone tragically passed away in a car accident in March 2025.