Phelps, who was diagnosed with the disease in late April, had the procedure Tuesday at the University of Washington Medical Center.
"Thanks to early discovery of the cancer during a routine physical, Dad is doing great and is on the road to recovery," Phelps's daughter Karen Moyer said.
Phelps, 58, spent 20 seasons as head coach at Notre Dame (1971-1991), went 393-197 with 14 seasons of 20 or more wins and has more wins than any coach in school history. He led the Fighting Irish to their only Final Four appearance in 1978. Phelps joined ESPN in 1993.