The Wild About My Lovin' singer, who is married to guitarist Darrel Higham, gave birth to her first child in August.
The mum and three-month-old shared a laugh during Imelda's rehearsal set for the Jazz Voice Festival in London.
Imelda revealed earlier this year that she played rock'n'roll to her baby in the womb.
"I know they say you're supposed to play Mozart to the baby to make it a genius, but so far mine's been listening to rock'n'roll all the way, a bit of Gene Vincent, some Johnny Cash and The Cramps," she said.
The snap was posted on May's Facebook page with the caption: "A recent photo of Imelda and her darling little Violet from the Jazz Voice rehearsal in London. Enjoy!"