Accurate knowledge of the charge and Zemach radii of the proton is essential, not only for understanding its structure but also as input for tests of bound-state quantum electrodynamics and its predictions for the energy levels of hydrogen. These radii may be extracted from the laser spectroscopy of muonic hydrogen (mu p, that is, a proton orbited by a muon). We measured the 2S(1/2)(F=0)-2P(3/2)(F=1) transition frequency in mu p to be 54611.16(1.05) gigahertz (numbers in parentheses indicate one standard deviation of uncertainty) and reevaluated the 2S(1/2)(F=1)-2P(3/2)(F=2) transition frequency, yielding 49881.35(65) gigahertz. From the measurements, we determined the Zemach radius, r(Z) = 1.082(37) femtometers, and the magnetic radius, r(M) = 0.87(6) femtometer, of the proton. We also extracted the charge radius, r(E) = 0.84087(39) femtometer, with an order of magnitude more precision than the 2010-CODATA value and at 7 sigma variance with respect to it, thus reinforcing the proton radius puzzle.