The artwork is an illustration from the cartoonist's "The Blue Lotus" book, published in 1936, which sees Tintin and sidekick Snowy the dog on an adventure in Shanghai.
It sold for 9.6 million Hong Kong dollars (USD 1.2 million) and French auction house Artcurial said it had been bought by an Asian collector.
Drawn in monochrome, it shows Tintin being pulled along a street in a rickshaw with a policeman looking on.
"'The Blue Lotus' is considered by specialists as the masterpiece album of Herge," said Eric Leroy, Artcurial's expert in comic strips.
"The design and drawing of Herge had become mature... It was also unusual to talk about China in the thirties in Europe."
The piece had been predicted to sell at between 8.6 million Hong Kong dollars and 13 million Hong Kong dollars.
The record for a Tintin piece was set by a 1937 comic strip sold at an Artcurial auction in Paris in May for 3.4 million dollars. It was bought by an American collector.
It is the first time that Artcurial has held an auction in the southern Chinese city, which has become an art hub for Asia.
It will hold two evenings of auctions today and tomorrow, featuring everything from paintings by Picasso and Renoir to bags by Hermes and a Mercedes Benz 300 SL Roadster.
Alongside the Herge drawing contemporary European pieces from leading comic artists Enki Bilal, Moebius and Nicolas de Crecy were also on sale.
Two of the comic artworks broke records for sales by the artist today, with a Bilal piece fetching 2.3 million Hong Kong dollars and a Moebius going for 2.4 million Hong Kong dollars.
