Murray's foot gave way at the start of the third set on Rod Laver Arena and while he was still able to see out his 6-3, 6-0, 6-2 victory, he clearly remained in some discomfort.
The British No. 1 chose not to request any medication from the tournament physio but soon after told his box, "my foot is killing me".
Murray will now face American Sam Querrey in round three.
Asked about his ankle in his on-court interview afterwards, Murray said: "It's just a little bit sore, it's not too serious but I definitely rolled it a bit. I'll make sure I get some ice on it.
"I was moving OK at the end which is positive.
"Sometimes if you roll your ankle and it feels bad, you can't put weight on it but I could put weight on it so I'm sure it'll be fine."