He has not said whether he plans to play next season.
Peppers, 38, posted a photo on Instagram saying, "Everything went well and I'm recovering well."
The nine-time Pro Bowler started his career in Carolina after being chosen with the No. 2 pick in the 2002 draft. After eight seasons with the Panthers, he had stints with the Chicago Bears and Green Bay Packers before returning to Carolina this season.
He ranks fourth in NFL history in sacks with 154.5.