In a tight match, Tipsarevic was forced to save two match points in the third set tiebreaker to win for the first time since October 2013.
The former world number eight has been out of action after two surgeries to his left foot to remove a tumour.
Tipsarevic's career still hangs in the balance as Doctors can't guarantee that the tumour won't grow back and a third operation is not an option.
"My life would not be in danger," he said, "but I could not play tennis again.
"Basically (the second surgery) took away about 80 percent of my sole. That's why it took so long (to return)."
Tipsarevic's comeback began last week by playing a doubles match in Miami with Novak Djokovic.