A local tsunami alert was issued for the northeast coast after the 7.1 magnitude quake shook the region for more than 30 seconds at 11:32 p.m. local time.
No significant changes in sea level were detected, and the alert was lifted within a couple of hours, according to the Japan Meteorological Agency.
There were also no reports of significant damage from the aftershock, which awakened people in Tokyo, more than 200 miles from the epicenter.
Officials assured nervous residents that there was no additional damage to the Fukushima No. 1 Nuclear Power Plant, and recovery efforts there were continuing normally.