The 67-year-old governor's staff said the procedure, performed while he was under general anesthesia, was to fix a tendon that had become detached in a fall at his residence last year, the (Minneapolis) Star Tribune reported.
"The surgery went great," Dayton spokesman Matt Swenson said. "He is resting comfortably."
While the operation was scheduled to last just an hour, he is to remain at the Mayo Clinic for a couple of days, the newspaper said. Swenson said the governor will wear a hip brace for about three months.
This was Dayton's third procedure at the Mayo since taking office three years ago. He had back surgery in 2012 and a platelet injection last fall to help his hip condition.