The happy couple tied the knot in front of family and close friends in Hawaii less than 24 hours after he performed at a New Edition concert in Honolulu.
The pair’s three-year-old son Cassius acted as a ring bearer and he and his dad wore matching red suits and Adidas trainers.
Bobby’s older children Landon, 23, La’Princia, 22, and Bobby Jr., 19, were all in attendance but 19-year-old Bobbi Kristina his daughter with late ex-wife Whitney Houston was not present.
Bobby and Alicia who also acts as her new husband’s manager got engaged in May 2010 when the 43-year-old musician proposed during a New Edition concert in Jacksonville, Florida.
The singer – who has overcome serious addiction – has previously credited Alicia with helping rediscover his zest for life and for helping to keep him sober and clean.