I realise that this is an ancient topic but upon googling this problem I couldn't find a simple solution (I saw the venerable agents but think this is a simpler solution) so here's a function I wrote, seems to work quite well.
DROP FUNCTION IF EXISTS STRIP_NON_DIGIT;
DELIMITER $$
CREATE FUNCTION STRIP_NON_DIGIT(input VARCHAR(255))
RETURNS VARCHAR(255)
BEGIN
DECLARE output VARCHAR(255) DEFAULT '';
DECLARE iterator INT DEFAULT 1;
WHILE iterator < (LENGTH(input) + 1) DO
IF SUBSTRING(input, iterator, 1) IN ( '0', '1', '2', '3', '4', '5', '6', '7', '8', '9' ) THEN
SET output = CONCAT(output, SUBSTRING(input, iterator, 1));
END IF;
SET iterator = iterator + 1;
END WHILE;
RETURN output;
END
$$
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