The 72-year-old is expected to be discharged on Wednesday following the minor procedure at the Albert Einstein Hospital in Sao Paulo.
Pele's advisor, Jose Ovens, told Brazilian broadcaster Globoesport: "Everything went very well. It was a simple surgery. He probably will be discharged tomorrow."
It was reported that Pele had initially gone to the hospital to renew his medical insurance, but after complaining of long-term pain in his hip and then undergoing tests, opted to undergo the operation.