The actress posted a series of snaps of her with her partner and former Call The Midwife star Jack Ashton and their daughter Wren on her special day.
The family-of-three were celebrating the little's ones third birthday and headed to Legoland in Windsor for the occasion.
The first picture shows the smiling parents with little Wren on her dad's shoulders, while the second picture shows Jack and Wren looking at a Lego masterpiece.
Alongside the sweet pictures Helen wrote: "Best place to celebrate a 3 year old’s birthday! Thank you @legolandwindsor Wren had the best day, her mother is still recovering from the Haunted House though 🤪"
Helen's followers took to the comment section to wish the little one a happy birthday.
"Your little girl is a mini you bless her x" one fan wrote, while another added: "Three already?! Where does the time go to? Xx"
Helen often gives her fans a peek into her private life, posting pictures of family days and behind the scenes snaps from Call The Midwife.
Last month, the star revealed she was back on set filming for the show by posting a picture of her dressing room door with the name "Trixie" on the door.
Alongside the post, Helen wrote: "So good to be back! When the arts have been so terribly hit over the last few months and some of the most talented people I know are sat at home unable to do what they are meant to do. How heartbreaking that is for them and for their loved ones to watch on - unable to help. I feel incredibly lucky that I am going back to what I love and I'm hopeful that we WILL get our industry back and theatres WILL reopen. Because god knows we need to be entertained right now. x"
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