The 75-year-old Dutch royal was operated on Sunday morning and will remain in hospital for a few days while she recovers.
Once she has been discharged, she will return home to the Huis ten Bosch Palace in the Hague to continue her recuperation.
The fall is another setback for the Princess, who tragically lost her middle son Prince Johan Friso just one month ago.
The 44-year-old passed away in August, a year-and-a half after slipping into a coma following a serious skiing accident.
At the time of his death, Johan, who left behind his wife Princess Mabel and their two daughters Luana and Zaria, was being cared for at the Palace Huis ten Bosch. He had remained in a state of "minimal consciousness" since the accident in February 2012.
In April, Beatrix abdicated from the throne in favour of her eldest son, King Willem-Alexander. Thirty-three years after she took the throne, she gave up her role as the head of the House of Orange and reverted back to her original status as a princess.
Beatrix continues to perform public duties with her next appearance expected to take place on 1 October.