Murray, 33, was last in ATP Tour action last October in the European Open in Antwerp and was not allowed an easy ride by Tiafoe, 11 years his junior.

Their clash lasted almost two-and-a-half hours, and Murray was forced to save a set point en route to taking the opener.

The first set was largely controlled by serve and a double fault in the tiebreak allowed Tiafoe to go 5-2 up and within touching distance of the lead, but Murray battled back and ultimately prevailed with a passing shot up the line sealing the set.

Tiafoe took his chance on the Murray serve in the second set and that proved decisive as he levelled the contest, but the Scot made the most of a string of mistakes in the decider to seal victory.

The 2008 and 2011 champion will face world No.7 Alexander Zverev in the next round, as Murray ramps up his preparations for the US Open.