The 44-year-old superstar, who is married to US presenter Nick Cannon, shared photos of the trio on the rooftop of the family's Manhattan home.
Mariah showed off her natural beauty as she posed in a multicoloured strapless dress and red bikini.
Three-year-old Monroe looked pretty in polka dots as she sat on her mum's leg, while Moroccan was busy causing mischief in the background!
Captioning the photo, Mariah said: "Hot tub time! Roc n Roe said let's go! Come on!!!"
Judging from the pics, it looks like they had fun!
In the early hours of this morning, Mariah posted another photo to Instagram, showing her going for a stroll with her pet dog Cha Cha!
"Shhh! Cha Cha is on the prowl," she said.
It' been a relaxing past month for Mariah, who recently released her highly-anticipated 14th studio album, Me. I Am Mariah... The Elusive Chanteuse.
In May, Mariah also picked up two gongs at the World Music Awards in Monte Carlo for 'Pop Icon' and 'Best Selling Solo Artist of All Time'.
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Watch Mariah's video for 'You're Mine (Eternal)' below: