With Britain leading 2-0 and needing just one point to win, Murray was replaced at the discretion of captain Leon Smith. Inglot will team with Colin Fleming against the Bryan brothers.
Murray won the opening singles match in straight sets against Donald Young on Friday. He's scheduled to play Sam Querrey in the first reverse singles match Sunday.
Querrey was beaten in five sets by James Ward.
Murray had back surgery in September but said he'd be good to go if needed for Saturday's doubles.