What should I do if I discover a typo in the title of my MS thesis after submission
First and foremost, I would strongly advise you to not worry too much about the printed copies.  Printed copies of any literature, not just your thesis, are largely vestigial these days: it is the electronic copy that people looking for literature will be able to discover, and it is the electronic copy that they will be generally capable of accessing.  In my experience, the current purposes of the printed copy are:


Fulfilling depository requirements of libraries, where paper is still the best known method for long-term archival storage (even plain text files rot quickly---ever heard of EBCDIC?).  In all likelihood, nobody will ever access these paper copies.
Giving "trophy" copies to people that you personally know, like your advisor, your family, or other mentors who have helped you.


Neither of these really needs correction: the library depository copies are likely write-only artifacts, and the trophy copies are going to people who already know you and are likely to laugh and sympathize with you over your typo rather than hold it against you.

What I think is worth getting corrected is any electronic version.  For that, you need to talk to whoever is in charge of maintaining the electronic depository at your institution.  Often, this is the librarians, and they will generally have a procedure for fixing errors---your error will by no means be the first or the most severe that they have dealt with.