A spokeswoman for the 31-year-old said both mother and baby were unhurt after another vehicle struck the passenger side of Ciara's car.
The musician, who often speaks about her Christian faith, is expecting a child with her NFL star husband Russell Wilson.
The pair was recently seen together at the Oscars.
Ciara wrote on Twitter: "Thankful For Gods Grace, and Amniotic Fluid", while her husband posted: "Momma Wilson & Baby Wilson are feeling great! God is good!"
Thankful For Gods Grace, and Amniotic Fluid ☺
— Ciara (@ciara) March 11, 2017
The pop star regularly shares messages about her faith on social media.
In an interview with Page Six last year she spoke about how she was laying her future in God's hands.
She said: "God knows everything that's to come in the future, and I think it's best to let Him keep taking control of things.
"Life is sweet, and I'm very thankful for all the great things happening in my life. I'm very happy."