The 29-year-old, ranked No. 63 in the world by the Association of Tennis Professionals (ATP), defeated Portugal's Jaime Faria 6-3, 6-3 in the first round on Wednesday.
The match was Hurkacz's first under his new French coach Gilles Cervara.
Hurkacz, who parted ways with Chilean coach Nicolás Massú in late March after a prolonged slump in form, will next face Italy's world No. 9 Lorenzo Musetti at the clay-court tournament in the Spanish capital.
On the women's side, Poland's Magda Linette reached the second round with a 6-4, 6-3 win over American Robin Montgomery on Tuesday.
Meanwhile, Poland’s world No. 4 Iga Świątek is due to play Ukrainian qualifier Daria Snigur in the second round of the women's singles on Thursday.
Świątek reached the semifinals in Madrid last year after winning the title in 2024.
The 2026 Madrid Open runs until May 3.
(gs)
Source: polskieradio24.pl