  Since the 1985 discovery of the phase transition at $T_{\rm HO}=17.5$ K in
the heavy-fermion metal URu$_2$Si$_2$, neither symmetry change in the crystal
structure nor magnetic ordering have been observed, which makes this "hidden
order" enigmatic. Some high-field experiments have suggested electronic
nematicity which breaks fourfold rotational symmetry, but direct evidence has
been lacking for its ground state at zero magnetic field. Here we report on the
observation of lattice symmetry breaking from the fourfold tetragonal to
twofold orthorhombic structure by high-resolution synchrotron X-ray diffraction
measurements at zero field, which pins down the space symmetry of the order.
Small orthorhombic symmetry-breaking distortion sets in at $T_{\rm HO}$ with a
jump, uncovering the weakly first-order nature of the hidden-order transition.
This distortion is observed only in ultrapure sample, implying a highly unusual
coupling nature between the electronic nematicity and underlying lattice.
