The 49-year-old actor - who was previously married to pop star Fergie, the mother of his nine-year-old son Axl.
Since 2019, and the pair tied the knot on Saturday at the Olivet Lutheran Church in Audra's hometown of North Dakota.
An eyewitness told the New York Post newspaper's Page Six column:
"They were posing and happily pumping their fists in the air!"
Pictures from the wedding day show the former Miss Teen North Dakota arranging a sprawling white gown complete with matching veil and sunglasses.
The nuptials come just eight months after Josh - who split from former Black Eyed Peas star Fergie back in 2017.
Finalised their divorce two years later after a decade of marriage - initially popped the question to Audra.
Couple were walking around the beach and Josh had put a message-in-a-bottle placed on the sand as a surprise proposal.
"It’s on!! She found a message in a bottle that washed ashore and said YES!!" (sic)
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