Massive multiple-input and multiple-output (MIMO) is a key technology to meet the increasing capacity demands that must be satisfied by next generation wireless systems. However, it is expensive to use linear power amplifiers when implementing a massive MIMO system as it will have hundreds of antennas. In this paper, considering that low peak-to-average power ratio (PAPR) of transmit signals can facilitate hardware-friendly equipment with nonlinear but power-efficient amplifiers, we first formulate the precoding scheme as a PAPR minimization problem. Then, in order to obtain the optimal solution with low complexity, the precoding problem is recast into a Bayesian estimation problem by leveraging belief propagation algorithm. Eventually, we propose a low-PAPR approximate message passing (LP-AMP) algorithm based on belief propagation to ensure the good transmission performance and minimize the PAPR to realize practical deployments. Simulation results reveal that the proposed method can get PAPR reduction and adequate transmission performance, simultaneously, with low computational complexity. Moreover, the results further indicate that the proposed method is suitable for practical implementation, which is appealing for massive multiuser MIMO (MU-MIMO) systems.