The comedienne was introduced to Kim’s 7-month-old daughter when she brought North into the E! channel offices.
Joan cruelly joked to her audience: ‘that baby is ugly... I've never seen a six-month-old so desperately in need of a waxing.’
Joan has made a living with her edgy comedy style, but her latest controversial jokes aimed at North a slightly more below the belt and will probably not go down with Kim’s fiancé, Kanye West.
Kanye has previously spoken out about how protective he is of his daughter.
He said in an interview following North’s birth: ‘one of the things was to be protective, that I would do anything to protect my child or my child's mother. As simple as that.’
Joan’s comments come a month after Kim was accused by Twitter followers of waxing her daughter’s eyebrows.
Kim shared a picture of North on her Instagram page, and fans noticed her daughter’s eyebrows looked particularly neat and groomed.
Kim responded to the accusations, jokingly tweeting: ‘do people really think I would wax my daughters eyebrows so young? Come on, I'd wait until she's at least 2 1/2!’
She then tweeted: ‘I'm kidding!!! Its pretty sick for people to insinuate that I would wax my daughters eyebrows. They are thick, natural and amazing!’
Kim and Kanye have yet to respond to Joan’s comments.