The 25-year-old Pole, ranked world No. 14 by the Association of Tennis Professionals (ATP), defeated Bolivian qualifier Hugo Dellien in three sets, 7-5, 6-7, 6-3, in their first-round encounter on Tuesday.
Up next for Hurkacz at the clay-court tournament in the Spanish capital is home favourite Alejandro Davidovich Fokina.
Meanwhile, Poland's Iga Świątek, the world No. 1 in women's tennis, announced last month she would miss the Madrid Open due to a shoulder injury.
The 2022 Madrid Open runs until May 8.
(gs)
Source: PAP