The Albion legend shared pictures via social media of him on crutches and leaving hospital.
He had earlier told followers he had a new hip and added: “Let’s see how this one goes.”
The former striker is part of Fabian Hurzeler’s coaching team as he works with attacking players at Lancing on a regular basis.
He made his name with the Seagulls on their climb through the lower divisions after arriving from Bristol Rovers.
Zamora’s return to Albion for the 2015-16 season ended with a hip injury which ruled him out of the promotion chase and play-offs.
He has suffered a significant hip injury while with QPR in 2012 which required surgery and kept him out for several months.
The injury was a recurring issue throughout his career.
It cut short his 2015-16 campaign just at the stage for which Chris Hughton had brought him back to the club.
Zamora said at the time: "It started really well with a winning goal on my debut, which was so special for me, but 20 years of playing has caught up with me.
"My hip decided to let me down at the final hurdle."