The quake hit at a depth of 450 kilometres (280 miles) at 02:27 am (17:27 GMT) 770 kilometres south of Shimoda, according to the United States Geological Survey.
Japan Meteorological Agency said the quake poses no tsunami risk.
A 9.0-magnitude earthquake in March 2011 triggered a massive and deadly tsunami, which smashed into a power station and sparked the world's worst atomic accident since Chernobyl in 1986.
Tokyo Electric is working to clean up and dismantle the reactors in a process that is expected to take at least four decades.
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