Our principal interest in this paper is to study higher order degenerate Hermite-Bernoulli polynomials arising from multivariate $p$-adic invariant integrals on $mathbb{Z}_p$. We give interesting identities and properties of these polynomials that are derived using the generating functions and $p$-adic integral equations. Several familiar and new results are shown to follow as special cases. Some symmetry identities are also established.