Astrocytes play key roles in the maintenance and regulation of neurological functions and their impairment contributes to several pathologies. Although neuronal subtype specification has been extensively studied, how astrocyte diversity emerges during development remains poorly understood. Here we show that distinct dorso-ventral progenitor pools of the mouse embryonic spinal cord (identified by Nkx6.1, Dbx1, Pax3/6/7 and Ascl1) give rise to astrocytes that precisely occupy distinct spinal regions. Despite their domain of origin, each group exhibits heterogeneity in distribution and morphology, comprising protoplasmic gray matter (GM), and fibrous and subpial white matter (WM) astrocytes. To assess whether GM and WM cells derive from common progenitor cells we performed lineage tracing using GlastCreER mice combined with Tomato or GFP conditional reporters as well as the mosaic analysis with double markers system. Clonal fate mapping revealed that astrocytes are often found in pairs of the same subtype, sharing morphology, molecular marker expression and spatial location. Furthermore, our experiments suggest that daughter cells arise from symmetrical divisions after migration near their final settling position. In conclusion, our findings reveal that, in addition to dorso-ventral patterning, astrocyte diversity is determined by distinct progenitors in each embryonic domain selectively producing GM and WM astrocytes.