The quake struck close to Fukushima at around 6am local time, which initially prompted warnings of three-metre waves, but those that did eventually hit the coast were much smaller.
Thousands were told to evacuate the area, with fears rife after the 2011 earthquake and tsunami which occurred in the same region, killing 18,000 people.
There were also concerns about the Fukushima nuclear plant, which suffered a meltdown after the 2011 quake. However officials said there was no sign of damage to the plant this time.
The Japan Metreological Agency said no tsunami damage was expected, although it added that there may be some changes to the sea level.
Tsunami warnings lifted after Japan earthquake
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