Compare the following:
heard it move (I heard a sound that told me that it had moved)
heard it moving (I heard it while it was moving)
heard it moved (I heard a sound that told me that it had been moved)
heard it being moved (I heard it while it was being moved)
"heard it told" and "heard it being told" correspond to the third and fourth case above.
I wouldn't say that "heard it moved" is "heard it [having been] moved", since I have never heard it used that way and native speakers (who are not linguists) will probably never associate it like this. (certainly not "heard it having been used"!)