The three-time major champion posted a message Tuesday on Instagram saying he had the operation Monday in London.
Murray says he is "feeling a bit battered and bruised."
The post includes two pictures — one shows Murray in a hospital bed, the other shows an X-ray.
He has dealt with hip pain for years and already had an operation in January 2018.
After losing in the first round of the Australian Open two weeks ago, Murray said he would decide quickly whether to have surgery again.
He said at a news conference before the Australian Open that it might wind up being the last tournament of his career.