The escape rate of an underdamped ($Q\ensuremath{\approx}30$), current-biased Josephson junction from the zero-voltage state has been measured. The relevant parameters of the junction were determined in situ in the thermal regime from the dependence of the escape rate on bias current and from resonant activation in the presence of microwaves. At low temperatures, the escape rate became independent of temperature with a value that, with no adjustable parameters, was in excellent agreement with the zero-temperature prediction for macroscopic quantum tunneling.