The magnitude-5.2 temblor occurred at 4:16 a.m., waking many people from their sleep.
Officials at Japan's Meteorological Agency say the focus was in southern Chiba Prefecture neighboring Tokyo at a depth of 40 kilometers. They say there was no threat of tsunami.
The quake measured upper 5 on Japan's seven-tier intensity scale in Kisarazu City. Jolts registering lower 5 were felt in Kimitsu City. Local authorities say three people were injured.
Officials warn of landslides, falling rocks
Meteorological Agency official Kamaya Noriko says people in quake-hit areas should stay alert for more seismic activity.
She says the risk of falling rocks and landslides has increased, especially in areas hit by strong tremors.
And she warns another quake as powerful as upper 5 could strike over the next week.
Expert: Early quakes pose added risk
Earthquakes are common in Kanto because two oceanic plates subduct under another below the Japanese archipelago.
Meteorological Agency officials say Thursday's quake occurred on the Philippine Sea Plate.
The area around the epicenter has been rocked by large tremors before. They include a quake in May 2019, which had a magnitude of 5.1 and an intensity of lower 5.
Professor Satake Kenji of the University of Tokyo's Earthquake Research Institute says early morning jolts pose a particular set of risks.
"I believe many residents were asleep... I hope people don't get injured by falling objects after being woken by tremors."
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