From the MySQL docs:
REPLACE(str,from_str,to_str)
Returns the string str with all all occurrences of the string from_str replaced by the string to_str:
mysql> select REPLACE('www.mysql.com', 'w', 'Ww');
-> 'WwWwWw.mysql.com'
So in your case, try something like:
UPDATE TABLE tablename SET fieldname = REPLACE(fieldname, '-', '');
Test this on a dummy table first with records that you do not mind losing. I don't have time to test it out.
For further string manipulations in MySQL, RTM:
http://www.mysql.com/doc/S/t/String_functions.html